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	19.4s	12 errors · 318 warnings · 1524 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/2026-09-04-02-51-34-670514-c6f5f11138b4-7551 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.24sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 4.24sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 4.25sINFOstatic_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' + 4.27sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.28sINFOstatic_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' + 4.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.30sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.35sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.38sINFOmap_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. + 4.38sINFOmap_serverCreating + 4.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.58sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.60sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.60sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.61sINFOcontroller_managerupdate rate is 600 Hz + 4.61sINFOcontroller_managerOverruns handling is : enabled + 4.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.61sWARNcontroller_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. + 4.64sINFOcontroller_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. + 4.65sINFOros2_control_node-12process started with pid [7696] ×2 + 4.65sINFOmove_group-24process started with pid [7722] ×2 + 4.65sINFOparameter_manager_node-25process started with pid [7776] ×2 + 4.65sINFOwaypoint_manager_node-26process started with pid [7779] ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390018 ms (missed cycles : 4). + 4.66sINFOmove_joint_resampler_node-27process started with pid [7782] ×2 + 4.66sINFOmove_end_effector_resampler_node-28process started with pid [7788] ×2 + 4.66sINFOobjective_server_node_main-29process started with pid [7793] ×2 + 4.66sINFOcomponent_container_mt-30process started with pid [7794] ×2 + 4.66sINFOcomponent_container_mt-31process started with pid [7795] ×2 + 4.66sINFOexecute_objective_bridge-32process started with pid [7796] ×2 + 4.66sINFOui_teleop_bridge-33process started with pid [7797] ×2 + 4.66sINFOweb_bridge-34process started with pid [7798] ×2 + 4.66sINFOtf2_web_republisher_node-35process started with pid [7815] ×2 + 4.66sINFOvideo_server-36process started with pid [7816] ×2 + 4.66sINFOweb_bridge_auth_proxy-37process started with pid [7834] ×2 + 4.66sINFOweb_video_auth_proxy-38process started with pid [7835] ×2 + 4.66sINFOcomponent_container_isolated-1process started with pid [7601] ×2 + 4.66sINFOcomponent_container_isolated-2process started with pid [7602] ×2 + 4.66sINFOstatic_transform_publisher-3process started with pid [7603] ×2 + 4.66sINFOstatic_transform_publisher-4process started with pid [7604] ×2 + 4.66sINFOodom_qos_relay.py-5process started with pid [7605] ×2 + 4.66sINFOforward_stereo_publisher.py-6process started with pid [7606] ×2 + 4.66sINFOlidar_flattener.py-7process started with pid [7607] ×2 + 4.66sINFOstatic_transform_publisher-8process started with pid [7608] ×2 + 4.66sINFOstatic_transform_publisher-9process started with pid [7609] ×2 + 4.66sINFOscan_to_scan_filter_chain-10process started with pid [7694] ×2 + 4.66sINFOscan_to_scan_filter_chain-11process started with pid [7695] ×2 + 4.66sINFOros2-13process started with pid [7697] ×2 + 4.66sINFOros2-14process started with pid [7698] ×2 + 4.66sINFOros2-15process started with pid [7699] ×2 + 4.66sINFOros2-16process started with pid [7700] ×2 + 4.66sINFOros2-17process started with pid [7701] ×2 + 4.66sINFOros2-18process started with pid [7702] ×2 + 4.66sINFOros2-19process started with pid [7703] ×2 + 4.66sINFOros2-20process started with pid [7704] ×2 + 4.66sINFOros2-21process started with pid [7705] ×2 + 4.66sINFOros2-22process started with pid [7708] ×2 + 4.66sINFOros2-23process started with pid [7715] ×2 + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.69sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.69sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.69sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.72sINFOlifecycle_manager_localizationCreating + 4.72sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.72sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.72sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.72sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.72sINFOcontroller_serverCreating controller server + 4.74sINFOlocal_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. + 4.75sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.75sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.75sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.75sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.75sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.75sWARNros2_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 + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.390018 ms (missed cycles : 4).[0m ×2 + 4.75sINFOlocal_costmap.local_costmapCreating Costmap + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.79sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.79sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.80sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.80sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.80sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.80sINFOmap_serverConfiguring + 4.82sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.83sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.83sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.83sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.85sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.86sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.86sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.86sINFOamclConfiguring + 4.87sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.87sINFOmap_serverActivating + 4.87sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.87sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.88sINFOsmoother_serverCreating smoother server + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.92sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.94sINFOplanner_serverCreating + 4.98sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.98sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.98sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.98sINFOamclActivating + 4.98sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.98sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.99sINFOglobal_costmap.global_costmapCreating Costmap + 4.99sINFOrobot_state_publisherRobot initialized + 4.99sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.00sINFOamclSubscribed to map_topic: /map + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.00sINFOamclSubscribed to scan_topic: /scan_merged + 5.00sINFOamclCreated reinitialize_global_localization service + 5.00sINFOamclCreated request_nomotion_update service + 5.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.00sINFOamclA new map was received + 5.00sINFOamclInitializing particle filter instance + 5.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.04sINFOcontroller_managerReceived robot description from topic. + 5.04sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.04sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.05sINFObehavior_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. + 5.08sINFOvideo_server2026/09/04 02:51:41 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.08sINFOvideo_server2026/09/04 02:51:41 INF configuration loaded from /tmp/moveit-webrtc-xcynh1dy/mediamtx.yml ×2 + 5.08sINFOvideo_server2026/09/04 02:51:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.08sINFOvideo_server2026/09/04 02:51:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.09sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.09sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.11sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.14sINFObt_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. + 5.15sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.15sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.16sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.16sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.17sINFObt_navigatorCreating + 5.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.19sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.21sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.24sINFOwaypoint_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. + 5.24sINFOwaypoint_followerCreating + 5.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.30sINFOvelocity_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. + 5.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.31sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.475739 seconds + 5.31sINFOmove_groupLoaded robot model in 0.475739 seconds[0m ×2 + 5.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.31sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.31sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.31sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.31sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.32sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.34sINFOlifecycle_manager_navigationCreating + 5.37sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.39sWARNlaser_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. + 5.40sWARNscan_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 + 5.41sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.41sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.42sINFOcontroller_serverConfiguring controller interface + 5.42sINFOcontroller_servergetting progress checker plugins.. + 5.42sINFOcontroller_servergetting goal checker plugins.. + 5.42sINFOcontroller_serverController frequency set to 20.0000Hz + 5.42sINFOlocal_costmap.local_costmapConfiguring + 5.43sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.43sWARNlaser_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. + 5.45sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.50sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.50sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.51sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.54sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.54sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.55sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.57sINFOamclParticle filter initialization completed + 5.57sINFOamclInitializing particles from estimated pose and covariance + 5.57sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.57sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.58sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.58sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.58sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.58sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.62sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.64sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.64sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.66sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.66sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.66sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546296 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546296 ms (missed cycles : 3).[0m ×2 + 5.67sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.68sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.68sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.70sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.70sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.72sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.74sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.74sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.75sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.75sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.75sINFOcontroller_serverOptimizer reset ×2 + 5.78sINFOcontroller_serverController Server has FollowPath controllers available. + 5.80sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.80sINFOsmoother_serverConfiguring smoother server + 5.80sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 5.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.82sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.84sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.84sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.84sINFOplanner_serverConfiguring + 5.84sINFOglobal_costmap.global_costmapConfiguring + 5.87sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.88sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.88sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.88sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.89sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.92sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.92sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.92sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.95sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.95sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.95sINFOplanner_serverPlanner Server has GridBased planners available. + 5.95sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.97sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.97sINFObehavior_serverConfiguring + 5.98sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.98sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.99sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.99sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.00sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.00sINFObehavior_serverConfiguring spin + 6.02sINFObehavior_serverConfiguring backup + 6.03sINFObehavior_serverConfiguring drive_on_heading + 6.04sINFObehavior_serverConfiguring assisted_teleop + 6.05sINFObehavior_serverConfiguring wait + 6.06sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.06sINFObt_navigatorConfiguring + 6.08sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.08sWARNbt_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 + 6.14sINFOwaypoint_manager_nodeLoaded robot model in 0.475797 seconds[0m ×2 + 6.14sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.14sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.14sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.14sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.14sWARNmove_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. + 6.14sWARNmove_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. + 6.14sWARNmove_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. + 6.14sWARNmove_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. + 6.14sWARNmove_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 + 6.14sWARNmove_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 + 6.14sWARNmove_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. + 6.15sWARNmove_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. + 6.15sWARNmove_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. + 6.15sWARNmove_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. + 6.15sWARNmove_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 + 6.15sWARNmove_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. + 6.15sWARNmove_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. + 6.15sWARNmove_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 + 6.15sWARNmove_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 + 6.15sWARNmove_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 + 6.15sWARNmove_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 + 6.15sWARNmove_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 + 6.15sWARNmove_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 + 6.15sWARNmove_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 + 6.21sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.26sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.26sINFOwaypoint_followerConfiguring + 6.29sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.29sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.29sINFOvelocity_smootherConfiguring velocity smoother + 6.31sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.31sINFOcontroller_serverActivating + 6.31sINFOlocal_costmap.local_costmapActivating + 6.31sINFOlocal_costmap.local_costmapChecking transform + 6.31sINFOlocal_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. ×11 + 6.47sINFOmove_group[2026-09-04 02:51:42.771] [moveit_pro_license] [info] ×2 + 6.47sINFOmove_group************************************************* ×4 + 6.47sINFOmove_group* MoveIt Pro License ×2 + 6.47sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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 + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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 + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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. + 6.51sWARNwaypoint_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 + 6.51sWARNwaypoint_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 + 6.51sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.52sWARNwaypoint_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 + 6.52sWARNwaypoint_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. + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_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 + 6.53sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.61sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.61sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.61sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.61sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.64sINFOros2_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 + 6.64sINFOros2_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 + 6.70sINFOwaypoint_manager_node[2026-09-04 02:51:43.010] [moveit_pro_license] [info] ×2 + 6.70sINFOwaypoint_manager_node************************************************* ×4 + 6.70sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.70sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988903 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988903 ms (missed cycles : 2).[0m ×2 + 6.90sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.90sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.90sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.90sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.91sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.91sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.91sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.91sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.91sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.91sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.92sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.92sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.92sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.93sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.93sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.93sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.93sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.17sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.18sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.18sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.45sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.45sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.45sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.45sWARNros2_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 + 7.45sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.45sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.45sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.45sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.45sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.45sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.45sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.45sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.45sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.45sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.45sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.45sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.45sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.45sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.45sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.45sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.45sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.45sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.45sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.45sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.45sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.45sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.57sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 7.57sINFOcontroller_managerLoading controller 'vacuum_gripper' + 7.57sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 7.57sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 7.57sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 7.57sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 7.59sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.59sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.60sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 7.60sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 7.60sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 7.60sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 7.60sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 7.60sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 7.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 7.61sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.61sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 7.61sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 7.71sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.71sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.71sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.82sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.82sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166499 ms (missed cycles : 2). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166499 ms (missed cycles : 2).[0m ×2 + 7.86sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.86sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.86sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.86sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.86sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.86sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.86sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.86sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.86sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.86sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.86sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.86sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.87sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.91sINFOobjective_server_node[2026-09-04 02:51:44.212] [moveit_pro_license] [info] ×2 + 7.91sINFOobjective_server_node************************************************* ×4 + 7.91sINFOobjective_server_node* MoveIt Pro License ×2 + 7.91sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.91sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.91sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 7.91sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 7.92sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 7.92sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 7.94sINFOros2-17process has finished cleanly [pid 7701] ×2 + 7.99sINFOobjective_server_nodeLoaded robot model in 0.0337032 seconds[0m ×2 + 7.99sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.99sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.00sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 8.00sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 8.00sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 8.00sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 8.00sINFOplatform_velocity_controllerconfigure successful + 8.00sINFOros2_control_nodeconfigure successful[0m ×6 + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.00sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 8.01sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 8.01sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 8.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.04sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.10sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.10sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.11sINFOstreaming_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) + 8.11sINFOcomponent_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 + 8.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×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 + 8.21sWARNcomponent_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 + 8.32sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.32sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.32sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.32sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.36sINFOros2-16process has finished cleanly [pid 7700] ×2 + 8.42sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.42sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.42sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.42sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.43sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 8.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 8.50sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.51sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.52sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.52sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.52sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.52sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.52sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.52sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.52sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.53sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.61sINFOcomponent_container_mtLoaded robot model in 0.396454 seconds[0m ×2 + 8.61sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.61sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.83sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.83sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.92sINFOros2_control_node[2026-09-04 02:51:45.223] [info] Controller state will be published at 20 Hz. ×2 + 8.92sINFOros2_control_node[2026-09-04 02:51:45.225] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.95sINFOmove_groupMoveGroup debug mode is ON + 8.95sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.95sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.04sWARNplanning_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. + 9.04sWARNplanning_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. + 9.04sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.05sWARNplanning_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. + 9.05sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.06sWARNplanning_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. + 9.06sWARNcomponent_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 + 9.10sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.10sINFOmove_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 ****************************************************** + 9.10sINFOmove_group ×8 + 9.10sINFOmove_group****************************************************** ×4 + 9.10sINFOmove_group* MoveGroup using: ×2 + 9.10sINFOmove_group* - apply_planning_scene_service ×2 + 9.10sINFOmove_group* - clear_octomap_service ×2 + 9.10sINFOmove_group* - get_group_urdf ×2 + 9.10sINFOmove_group* - load_geometry_from_file ×2 + 9.10sINFOmove_group* - get_planning_scene_service ×2 + 9.10sINFOmove_group* - kinematics_service ×2 + 9.10sINFOmove_group* - save_geometry_to_file ×2 + 9.10sINFOmove_group* - GetPlanningGroups ×2 + 9.10sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.10sINFOmove_group[0m ×2 + 9.10sINFOmove_group[92mYou can start planning now![0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180521 ms (missed cycles : 3). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180521 ms (missed cycles : 3).[0m ×2 + 9.21sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.21sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.21sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.21sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 9.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 9.24sINFOcomponent_container_mt[2026-09-04 02:51:45.541] [moveit_pro_license] [info] ×2 + 9.24sINFOcomponent_container_mt************************************************* ×4 + 9.24sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.24sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.25sINFOros2-22process has finished cleanly [pid 7708] ×2 + 9.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.28sINFOforce_torque_sensor_broadcasterconfigure successful + 9.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.29sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.29sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.59sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.60sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.60sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 9.60sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 9.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 9.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 9.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 9.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 9.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.61sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.64sINFOros2-13process has finished cleanly [pid 7697] ×2 + 9.70sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 9.70sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 9.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 9.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 9.70sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 9.70sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 9.70sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 9.70sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 9.70sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 9.70sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 9.70sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 9.70sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 9.70sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 9.71sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 9.71sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 9.71sWARNros2_control_nodeCamera render tick took 1.15 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 + 9.74sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.74sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.75sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.75sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.78sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.78sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.98sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.98sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.98sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.98sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 9.98sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.98sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 10.02sINFOros2-19process has finished cleanly [pid 7703] ×2 + 10.03sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.03sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.03sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.03sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569954 ms (missed cycles : 4). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.569954 ms (missed cycles : 4).[0m ×2 + 10.34sWARNros2_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 + 10.38sINFOros2_control_node[2026-09-04 02:51:46.684] [info] Controller state will be published at 20 Hz. ×2 + 10.38sINFOros2_control_node[2026-09-04 02:51:46.685] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.68sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.68sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.68sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.68sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.69sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 10.69sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 10.74sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.74sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.74sINFOros2-23process has finished cleanly [pid 7715] ×2 + 10.74sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.74sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.75sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.75sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.75sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.75sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.76sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788490304.869 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.97sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.05sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.05sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.05sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.05sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 11.05sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 11.10sINFOros2-14process has finished cleanly [pid 7698] ×2 + 11.11sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.11sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.11sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.11sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.11sINFOplatform_velocity_controller_nav2configure successful + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040178 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040178 ms (missed cycles : 2).[0m ×2 + 11.47sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.47sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.47sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.47sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.47sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 11.47sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 11.49sINFOros2-18process has finished cleanly [pid 7702] ×2 + 11.53sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.53sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.53sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.53sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.53sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.53sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.54sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.54sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.81sINFOlocal_costmap.local_costmapstart + 11.87sINFOros2-15process has finished cleanly [pid 7699] ×2 + 11.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.91sWARNcontroller_serverParameter controller_server.verbose not found + 11.91sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 11.96sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 11.96sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 12.01sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.01sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.01sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.02sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.02sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.02sINFOsmoother_serverActivating + 12.02sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.12sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.12sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.12sINFOplanner_serverActivating + 12.12sINFOglobal_costmap.global_costmapActivating + 12.12sINFOglobal_costmap.global_costmapChecking transform + 12.12sINFOglobal_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. + 12.19sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 6.280ms + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211093 ms (missed cycles : 4). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211093 ms (missed cycles : 4).[0m ×2 + 12.41sINFOros2_control_node[2026-09-04 02:51:48.717] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.41sINFOros2_control_node[2026-09-04 02:51:48.719] [info] Controller state will be published at 10 Hz. ×2 + 12.41sINFOros2_control_node[2026-09-04 02:51:48.721] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.63sINFOglobal_costmap.global_costmapstart + 12.73sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.73sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.73sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu + 12.73sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.73sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.73sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_e0zi9l1e --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_3zk_bnpg --params-file /tmp/launch_params_1mpb55eu [0m ×2 + 12.76sINFOros2-20process has finished cleanly [pid 7704] ×2 + 12.79sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.79sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.79sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.79sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.07sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788490308.477 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.18sINFOros2_control_node[2026-09-04 02:51:49.483] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.18sINFOros2_control_node[2026-09-04 02:51:49.485] [info] Controller state will be published at 10 Hz. ×2 + 13.18sINFOros2_control_node[2026-09-04 02:51:49.486] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580960 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580960 ms (missed cycles : 3).[0m ×2 + 13.50sINFOros2-21process has finished cleanly [pid 7705] ×2 + 13.68sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.68sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.78sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.78sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.78sINFObehavior_serverActivating + 13.78sINFObehavior_serverActivating spin + 13.78sINFObehavior_serverActivating backup + 13.78sINFObehavior_serverActivating drive_on_heading + 13.78sINFObehavior_serverActivating assisted_teleop + 13.78sINFObehavior_serverActivating wait + 13.78sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.89sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.89sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.89sINFObt_navigatorActivating + 13.94sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.04sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.04sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.04sINFOwaypoint_followerActivating + 14.04sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.15sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.15sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.15sINFOvelocity_smootherActivating + 14.15sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.26sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.26sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.26sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984838 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984838 ms (missed cycles : 2).[0m ×2 + 15.12sWARNros2_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 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 15.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 17.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 18.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.35sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.35sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.35sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.35sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.35sINFOobjective_server_nodecaller: ×10 + 18.36sINFOobjective_server_nodetype: 0 ×10 + 18.36sINFOobjective_server_nodename: "" ×10 + 18.36sINFOobjective_server_nodeinstance_id: "" ×10 + 18.36sINFOobjective_server_node ×10 + 18.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.40sINFOmove_groupClearing octomap...[0m ×2 + 18.40sINFOmove_groupOctomap cleared.[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 18.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.95sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 19.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 20.16sWARNros2_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 + 20.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.33sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.35sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.35sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 20.74sWARNros2_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 + 20.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.91sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.8s	3 errors · 283 warnings · 253 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927788 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927788 ms (missed cycles : 3).[0m ×2 + 0.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 0.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.893ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819027 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819027 ms (missed cycles : 3).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.792ms + 2.00sWARNros2_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 ×12 + 2.02sWARNros2_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 + 2.04sINFOamclParticle filter update iteration stats: 4497 particles 723 points - 8.179ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390748 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390748 ms (missed cycles : 3).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 3034 particles 723 points - 6.232ms + 3.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOjoint_trajectory_controllerGot request to cancel goal + 3.09sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.09sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.09sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.11sERRORobjective_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: 1788490525.86045361 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-0.43, 2.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 2.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.18sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.513ms + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262165 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262165 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.65sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.65sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.65sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.65sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.65sINFOobjective_server_nodecaller: ×4 + 3.65sINFOobjective_server_nodetype: 0 ×4 + 3.65sINFOobjective_server_nodename: "" ×4 + 3.65sINFOobjective_server_nodeinstance_id: "" ×4 + 3.65sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788490526.43280649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.752ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031052 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031052 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619936 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619936 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.33sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.33sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720824 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720824 ms (missed cycles : 3).[0m ×2 + 7.15sWARNros2_control_nodeCamera render tick took 0.51 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 + 7.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.095618 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.095618 ms (missed cycles : 5).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849201 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849201 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.027ms + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.556ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683638 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683638 ms (missed cycles : 3).[0m ×2 + 9.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 10.53sINFOamclParticle filter update iteration stats: 4404 particles 723 points - 8.445ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048494 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048494 ms (missed cycles : 3).[0m ×2 + 11.13sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 9.295ms + 11.69sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 4.188ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107587 ms (missed cycles : 2). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107587 ms (missed cycles : 2).[0m ×2 + 12.25sWARNros2_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 ×4 + 12.27sWARNros2_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 + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 12.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886454 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886454 ms (missed cycles : 3).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450960 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450960 ms (missed cycles : 3).[0m ×2 + 14.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931784 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931784 ms (missed cycles : 3).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471036 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.471036 ms (missed cycles : 3).[0m ×2 + 16.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217227 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217227 ms (missed cycles : 2).[0m ×2 + 17.58sWARNros2_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 + 17.60sWARNros2_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 + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739954 ms (missed cycles : 4). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.739954 ms (missed cycles : 4).[0m ×2 + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135649 ms (missed cycles : 3). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135649 ms (missed cycles : 3).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 20.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571447 ms (missed cycles : 2). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571447 ms (missed cycles : 2).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667942 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.667942 ms (missed cycles : 2).[0m ×2 + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056489 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056489 ms (missed cycles : 3).[0m ×2 + 23.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064819 ms (missed cycles : 3). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064819 ms (missed cycles : 3).[0m ×2 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 24.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126653 ms (missed cycles : 3). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126653 ms (missed cycles : 3).[0m ×2 + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 25.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030014 ms (missed cycles : 3). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030014 ms (missed cycles : 3).[0m ×2 + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.440ms + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.301ms + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866857 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866857 ms (missed cycles : 3).[0m ×2 + 27.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 28.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970934 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970934 ms (missed cycles : 3).[0m ×2 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.954ms + 29.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123968 ms (missed cycles : 2). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123968 ms (missed cycles : 2).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.060ms + 30.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893419 ms (missed cycles : 3). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893419 ms (missed cycles : 3).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.342ms + 31.07sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.307ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248639 ms (missed cycles : 3). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248639 ms (missed cycles : 3).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.718ms + 32.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577740 ms (missed cycles : 4). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.577740 ms (missed cycles : 4).[0m ×2 + 33.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.015ms + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108897 ms (missed cycles : 3). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108897 ms (missed cycles : 3).[0m ×2 + 33.65sWARNros2_control_nodeCamera render tick took 0.66 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 + 33.67sWARNros2_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 + 33.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 34.70sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.70sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.653189 ms (missed cycles : 6). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.653189 ms (missed cycles : 6).[0m ×2 + 34.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.928ms + 35.15sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856009 ms (missed cycles : 3). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856009 ms (missed cycles : 3).[0m ×2 + 36.52sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936628 ms (missed cycles : 5). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.936628 ms (missed cycles : 5).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.862873 ms (missed cycles : 6). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.862873 ms (missed cycles : 6).[0m ×2 + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727159 ms (missed cycles : 3). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727159 ms (missed cycles : 3).[0m ×2 + 39.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.082ms + 40.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.139ms + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484358 ms (missed cycles : 3). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484358 ms (missed cycles : 3).[0m ×2 + 40.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.062ms + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972948 ms (missed cycles : 3). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972948 ms (missed cycles : 3).[0m ×2 + 41.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 41.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.734ms + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403448 ms (missed cycles : 3). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403448 ms (missed cycles : 3).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863485 ms (missed cycles : 2). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863485 ms (missed cycles : 2).[0m ×2 + 44.30sWARNros2_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 + 44.32sWARNros2_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 + 44.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183806 ms (missed cycles : 2). + 44.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183806 ms (missed cycles : 2).[0m ×2 + 45.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002692 ms (missed cycles : 4). + 45.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002692 ms (missed cycles : 4).[0m ×2 + 45.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.807ms + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803921 ms (missed cycles : 3). + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803921 ms (missed cycles : 3).[0m ×2 + 47.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.765ms + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503758 ms (missed cycles : 3). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.503758 ms (missed cycles : 3).[0m ×2 + 48.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 48.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 48.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104598 ms (missed cycles : 3). + 48.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104598 ms (missed cycles : 3).[0m ×2 + 49.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099772 ms (missed cycles : 2). + 49.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099772 ms (missed cycles : 2).[0m ×2 + 49.81sWARNros2_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 + 49.83sWARNros2_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 + 49.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 50.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207642 ms (missed cycles : 2). + 50.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207642 ms (missed cycles : 2).[0m ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634641 ms (missed cycles : 2). + 52.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634641 ms (missed cycles : 2).[0m ×2 + 53.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526898 ms (missed cycles : 4). + 53.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.526898 ms (missed cycles : 4).[0m ×2 + 54.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048726 ms (missed cycles : 3). + 54.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048726 ms (missed cycles : 3).[0m ×2 + 54.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 55.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675400 ms (missed cycles : 5). + 55.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675400 ms (missed cycles : 5).[0m ×2 + 55.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480698 ms (missed cycles : 4). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480698 ms (missed cycles : 4).[0m ×2 + 56.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 57.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010472 ms (missed cycles : 4). + 57.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.010472 ms (missed cycles : 4).[0m ×2 + 58.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415156 ms (missed cycles : 2). + 58.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415156 ms (missed cycles : 2).[0m ×2 + 58.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 59.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798336 ms (missed cycles : 3). + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798336 ms (missed cycles : 3).[0m ×2 + 59.53sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 60.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568962 ms (missed cycles : 3). + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568962 ms (missed cycles : 3).[0m ×2 + 61.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709486 ms (missed cycles : 2). + 61.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709486 ms (missed cycles : 2).[0m ×2 + 62.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248186 ms (missed cycles : 2). + 62.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248186 ms (missed cycles : 2).[0m ×2 + 63.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704285 ms (missed cycles : 5). + 63.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704285 ms (missed cycles : 5).[0m ×2 + 64.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 64.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916625 ms (missed cycles : 3). + 64.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916625 ms (missed cycles : 3).[0m ×2 + 65.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700163 ms (missed cycles : 4). + 65.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700163 ms (missed cycles : 4).[0m ×2 + 65.98sWARNros2_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 + 66.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 67.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473823 ms (missed cycles : 3). + 67.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473823 ms (missed cycles : 3).[0m ×2 + 67.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 68.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336639 ms (missed cycles : 3). + 68.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336639 ms (missed cycles : 3).[0m ×2 + 68.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 68.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788490591.63296986 seconds ×3 + 68.97sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 68.97sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 69.07sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.07sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854050 ms (missed cycles : 3). + 69.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854050 ms (missed cycles : 3).[0m ×2 + 69.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.42sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.46sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788490592.20372057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.690ms + 70.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391272 ms (missed cycles : 3). + 70.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391272 ms (missed cycles : 3).[0m ×2 + 71.34sWARNros2_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 + 71.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665581 ms (missed cycles : 4). + 71.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665581 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	252 warnings · 201 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.61sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.21sINFOobjective_server_nodecaller: ×4 + 3.21sINFOobjective_server_nodetype: 0 ×4 + 3.21sINFOobjective_server_nodename: "" ×4 + 3.21sINFOobjective_server_nodeinstance_id: "" ×4 + 3.21sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 ×4 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056015 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056015 ms (missed cycles : 2).[0m ×2 + 8.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.400ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219740 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219740 ms (missed cycles : 2).[0m ×2 + 8.96sWARNros2_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 + 8.98sWARNros2_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 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.459ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576720 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576720 ms (missed cycles : 3).[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.158ms + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.145ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668803 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668803 ms (missed cycles : 3).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.556ms + 11.31sINFOamclParticle filter update iteration stats: 2930 particles 723 points - 10.212ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004058 ms (missed cycles : 4). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004058 ms (missed cycles : 4).[0m ×2 + 11.87sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 3.940ms + 12.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408625 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408625 ms (missed cycles : 2).[0m ×2 + 13.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 13.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947340 ms (missed cycles : 5). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947340 ms (missed cycles : 5).[0m ×2 + 14.21sWARNros2_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 + 14.24sWARNros2_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 ×6 + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 14.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985149 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985149 ms (missed cycles : 2).[0m ×2 + 15.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.295ms + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450931 ms (missed cycles : 4). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450931 ms (missed cycles : 4).[0m ×2 + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.890ms + 16.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626055 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626055 ms (missed cycles : 4).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.904ms + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899402 ms (missed cycles : 3). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899402 ms (missed cycles : 3).[0m ×2 + 18.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 19.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.665ms + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431107 ms (missed cycles : 3). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431107 ms (missed cycles : 3).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731193 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731193 ms (missed cycles : 3).[0m ×2 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079759 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079759 ms (missed cycles : 3).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 22.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605140 ms (missed cycles : 3). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605140 ms (missed cycles : 3).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 23.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.116ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723225 ms (missed cycles : 3). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723225 ms (missed cycles : 3).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.674ms + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463948 ms (missed cycles : 3). + 24.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463948 ms (missed cycles : 3).[0m ×2 + 25.13sWARNros2_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 + 25.16sWARNros2_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 ×4 + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 25.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 25.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859212 ms (missed cycles : 2). + 25.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859212 ms (missed cycles : 2).[0m ×2 + 26.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783929 ms (missed cycles : 2). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783929 ms (missed cycles : 2).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 27.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.840ms + 27.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993836 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993836 ms (missed cycles : 2).[0m ×2 + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.315ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031883 ms (missed cycles : 2). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031883 ms (missed cycles : 2).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782132 ms (missed cycles : 2). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782132 ms (missed cycles : 2).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.238ms + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394810 ms (missed cycles : 4). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394810 ms (missed cycles : 4).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.629ms + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.788ms + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852310 ms (missed cycles : 3). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852310 ms (missed cycles : 3).[0m ×2 + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.628ms + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048952 ms (missed cycles : 2). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048952 ms (missed cycles : 2).[0m ×2 + 34.37sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684830 ms (missed cycles : 3). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684830 ms (missed cycles : 3).[0m ×2 + 34.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883378 ms (missed cycles : 3). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883378 ms (missed cycles : 3).[0m ×2 + 35.78sWARNros2_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 + 35.80sWARNros2_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 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257137 ms (missed cycles : 4). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257137 ms (missed cycles : 4).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942381 ms (missed cycles : 3). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942381 ms (missed cycles : 3).[0m ×2 + 38.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692208 ms (missed cycles : 4). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.692208 ms (missed cycles : 4).[0m ×2 + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544440 ms (missed cycles : 3). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544440 ms (missed cycles : 3).[0m ×2 + 40.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075159 ms (missed cycles : 2). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075159 ms (missed cycles : 2).[0m ×2 + 40.78sWARNros2_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 + 40.80sWARNros2_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 + 41.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.637ms + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927502 ms (missed cycles : 3). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927502 ms (missed cycles : 3).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535122 ms (missed cycles : 4). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535122 ms (missed cycles : 4).[0m ×2 + 43.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790103 ms (missed cycles : 5). + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790103 ms (missed cycles : 5).[0m ×2 + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743312 ms (missed cycles : 4). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743312 ms (missed cycles : 4).[0m ×2 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274871 ms (missed cycles : 3). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274871 ms (missed cycles : 3).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133343 ms (missed cycles : 2). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133343 ms (missed cycles : 2).[0m ×2 + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416737 ms (missed cycles : 2). + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416737 ms (missed cycles : 2).[0m ×2 + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367956 ms (missed cycles : 5). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.367956 ms (missed cycles : 5).[0m ×2 + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483245 ms (missed cycles : 3). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483245 ms (missed cycles : 3).[0m ×2 + 51.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704191 ms (missed cycles : 4). + 51.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.704191 ms (missed cycles : 4).[0m ×2 + 52.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789451 ms (missed cycles : 4). + 52.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789451 ms (missed cycles : 4).[0m ×2 + 52.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.619ms + 53.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767039 ms (missed cycles : 5). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.767039 ms (missed cycles : 5).[0m ×2 + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634883 ms (missed cycles : 4). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634883 ms (missed cycles : 4).[0m ×2 + 55.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 55.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438886 ms (missed cycles : 3). + 55.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438886 ms (missed cycles : 3).[0m ×2 + 56.93sWARNros2_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 + 56.95sWARNros2_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 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063390 ms (missed cycles : 2). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063390 ms (missed cycles : 2).[0m ×2 + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389365 ms (missed cycles : 3). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389365 ms (missed cycles : 3).[0m ×2 + 59.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904362 ms (missed cycles : 4). + 59.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904362 ms (missed cycles : 4).[0m ×2 + 59.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 60.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788490655.42068791 seconds ×3 + 60.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824169 ms (missed cycles : 3). + 60.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824169 ms (missed cycles : 3).[0m ×2 + 60.12sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.57sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788490656.00631928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.62sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 3.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 60.62sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 3.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 60.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.058ms + 61.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 61.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539570 ms (missed cycles : 2). + 61.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539570 ms (missed cycles : 2).[0m ×2 + 61.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.313ms + 61.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802495 ms (missed cycles : 2). + 62.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802495 ms (missed cycles : 2).[0m ×2 + 63.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155213 ms (missed cycles : 3). + 63.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155213 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	242 warnings · 207 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_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 + 0.53sWARNros2_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 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648848 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648848 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792908 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792908 ms (missed cycles : 2).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788490366.38239980 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788490366.95564437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 2.592ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234761 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234761 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797582 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797582 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500278 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500278 ms (missed cycles : 3).[0m ×2 + 5.64sWARNros2_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 + 5.66sWARNros2_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 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.00sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297386 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297386 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067101 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067101 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 4.305ms + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434792 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.434792 ms (missed cycles : 3).[0m ×2 + 9.04sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 4.775ms + 9.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103757 ms (missed cycles : 5). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103757 ms (missed cycles : 5).[0m ×2 + 10.11sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms ×2 + 10.67sWARNros2_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 + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.063ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942406 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942406 ms (missed cycles : 2).[0m ×2 + 11.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms ×2 + 11.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234796 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234796 ms (missed cycles : 3).[0m ×2 + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009994 ms (missed cycles : 3). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009994 ms (missed cycles : 3).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 13.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671391 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671391 ms (missed cycles : 4).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.760ms + 14.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154542 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154542 ms (missed cycles : 2).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 15.88sWARNros2_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 + 15.90sWARNros2_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 + 15.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073909 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073909 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801031 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801031 ms (missed cycles : 3).[0m ×2 + 17.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963094 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963094 ms (missed cycles : 3).[0m ×2 + 18.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 19.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314738 ms (missed cycles : 3). + 19.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314738 ms (missed cycles : 3).[0m ×2 + 20.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 20.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432729 ms (missed cycles : 3). + 20.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432729 ms (missed cycles : 3).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856072 ms (missed cycles : 5). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856072 ms (missed cycles : 5).[0m ×2 + 21.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 22.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708441 ms (missed cycles : 3). + 22.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708441 ms (missed cycles : 3).[0m ×2 + 23.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 23.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385036 ms (missed cycles : 4). + 23.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.385036 ms (missed cycles : 4).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms ×2 + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113243 ms (missed cycles : 5). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113243 ms (missed cycles : 5).[0m ×2 + 24.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 26.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.499ms + 26.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594306 ms (missed cycles : 3). + 26.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594306 ms (missed cycles : 3).[0m ×2 + 26.65sWARNros2_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 + 26.67sWARNros2_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 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412060 ms (missed cycles : 3). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412060 ms (missed cycles : 3).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.090ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593350 ms (missed cycles : 4). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593350 ms (missed cycles : 4).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653979 ms (missed cycles : 4). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653979 ms (missed cycles : 4).[0m ×2 + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.584ms + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888625 ms (missed cycles : 3). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888625 ms (missed cycles : 3).[0m ×2 + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.494ms + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985576 ms (missed cycles : 3). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985576 ms (missed cycles : 3).[0m ×2 + 31.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 32.16sWARNros2_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 + 32.18sWARNros2_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 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748979 ms (missed cycles : 5). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.748979 ms (missed cycles : 5).[0m ×2 + 33.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009289 ms (missed cycles : 5). + 33.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009289 ms (missed cycles : 5).[0m ×2 + 34.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 34.42sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200405 ms (missed cycles : 3). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200405 ms (missed cycles : 3).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352839 ms (missed cycles : 3). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352839 ms (missed cycles : 3).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715785 ms (missed cycles : 3). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715785 ms (missed cycles : 3).[0m ×2 + 37.70sWARNros2_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 + 37.72sWARNros2_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 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225967 ms (missed cycles : 4). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.225967 ms (missed cycles : 4).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328466 ms (missed cycles : 2). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328466 ms (missed cycles : 2).[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209368 ms (missed cycles : 4). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209368 ms (missed cycles : 4).[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759479 ms (missed cycles : 3). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759479 ms (missed cycles : 3).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519509 ms (missed cycles : 3). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519509 ms (missed cycles : 3).[0m ×2 + 43.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395484 ms (missed cycles : 5). + 43.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395484 ms (missed cycles : 5).[0m ×2 + 43.20sWARNros2_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 + 43.22sWARNros2_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 ×6 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800693 ms (missed cycles : 3). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800693 ms (missed cycles : 3).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916563 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916563 ms (missed cycles : 2).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844142 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844142 ms (missed cycles : 3).[0m ×2 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271508 ms (missed cycles : 4). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.271508 ms (missed cycles : 4).[0m ×2 + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466077 ms (missed cycles : 3). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466077 ms (missed cycles : 3).[0m ×2 + 49.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683749 ms (missed cycles : 3). + 49.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683749 ms (missed cycles : 3).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014579 ms (missed cycles : 2). + 50.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014579 ms (missed cycles : 2).[0m ×2 + 51.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794629 ms (missed cycles : 3). + 51.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794629 ms (missed cycles : 3).[0m ×2 + 51.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 52.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267067 ms (missed cycles : 3). + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267067 ms (missed cycles : 3).[0m ×2 + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168748 ms (missed cycles : 2). + 53.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168748 ms (missed cycles : 2).[0m ×2 + 54.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694174 ms (missed cycles : 2). + 54.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694174 ms (missed cycles : 2).[0m ×2 + 55.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 55.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569743 ms (missed cycles : 3). + 55.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569743 ms (missed cycles : 3).[0m ×2 + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2).[0m ×2 + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2).[0m ×2 + 59.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788490423.65578270 seconds ×3 + 60.12sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.12sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2). + 60.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2).[0m ×2 + 60.22sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.22sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.52sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.55sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788490424.24101830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 60.94sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 61.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2).[0m ×2 + 61.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3). + 62.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3).[0m ×2 + 63.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3). + 63.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.2s	252 warnings · 218 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms ×2 + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788490462.83120155 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4).[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 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_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 + 3.29sWARNlocal_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 + 3.29sWARNlocal_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788490463.40886259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sWARNlocal_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 + 3.79sWARNlocal_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 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2).[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 (0.59 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 ×8 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571390 ms (missed cycles : 3). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571390 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127259 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127259 ms (missed cycles : 2).[0m ×2 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.420ms + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462322 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462322 ms (missed cycles : 3).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.661ms + 10.64sWARNros2_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 + 10.66sWARNros2_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 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.950ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972900 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972900 ms (missed cycles : 2).[0m ×2 + 11.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.833ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933285 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933285 ms (missed cycles : 2).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.271ms + 12.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.635ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969193 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969193 ms (missed cycles : 2).[0m ×2 + 13.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.156ms + 13.66sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 6.114ms + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891813 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891813 ms (missed cycles : 3).[0m ×2 + 14.23sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 3.543ms + 14.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689415 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689415 ms (missed cycles : 3).[0m ×2 + 15.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.628ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286761 ms (missed cycles : 4). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286761 ms (missed cycles : 4).[0m ×2 + 16.05sWARNros2_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 + 16.07sWARNros2_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 + 16.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.267ms + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.073ms + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041468 ms (missed cycles : 5). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.041468 ms (missed cycles : 5).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935420 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935420 ms (missed cycles : 3).[0m ×2 + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms ×3 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050199 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050199 ms (missed cycles : 3).[0m ×2 + 19.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 20.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916397 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916397 ms (missed cycles : 2).[0m ×2 + 20.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596509 ms (missed cycles : 4). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.596509 ms (missed cycles : 4).[0m ×2 + 21.43sWARNros2_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 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.921ms + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052307 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052307 ms (missed cycles : 2).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052794 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052794 ms (missed cycles : 2).[0m ×2 + 23.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.394ms + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834088 ms (missed cycles : 3). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834088 ms (missed cycles : 3).[0m ×2 + 25.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014507 ms (missed cycles : 3). + 25.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014507 ms (missed cycles : 3).[0m ×2 + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443045 ms (missed cycles : 6). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.443045 ms (missed cycles : 6).[0m ×2 + 26.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020073 ms (missed cycles : 3). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020073 ms (missed cycles : 3).[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.897ms + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188195 ms (missed cycles : 4). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188195 ms (missed cycles : 4).[0m ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.802ms + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027019 ms (missed cycles : 2). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027019 ms (missed cycles : 2).[0m ×2 + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174876 ms (missed cycles : 2). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174876 ms (missed cycles : 2).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056042 ms (missed cycles : 3). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056042 ms (missed cycles : 3).[0m ×2 + 32.37sWARNros2_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 + 32.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.353ms + 32.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794228 ms (missed cycles : 2). + 32.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794228 ms (missed cycles : 2).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944023 ms (missed cycles : 2). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944023 ms (missed cycles : 2).[0m ×2 + 34.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.202ms + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374105 ms (missed cycles : 2). + 34.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374105 ms (missed cycles : 2).[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736999 ms (missed cycles : 2). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736999 ms (missed cycles : 2).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329712 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329712 ms (missed cycles : 2).[0m ×2 + 37.89sWARNros2_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 + 37.92sWARNros2_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 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108119 ms (missed cycles : 3). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108119 ms (missed cycles : 3).[0m ×2 + 38.15sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.90sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354473 ms (missed cycles : 4). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354473 ms (missed cycles : 4).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569895 ms (missed cycles : 3). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569895 ms (missed cycles : 3).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149728 ms (missed cycles : 2). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149728 ms (missed cycles : 2).[0m ×2 + 41.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 42.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.632ms + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881363 ms (missed cycles : 5). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881363 ms (missed cycles : 5).[0m ×2 + 42.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 43.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290996 ms (missed cycles : 3). + 43.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.290996 ms (missed cycles : 3).[0m ×2 + 43.52sWARNros2_control_nodeCamera render tick took 0.65 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 + 43.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 43.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 44.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213342 ms (missed cycles : 4). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213342 ms (missed cycles : 4).[0m ×2 + 45.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904120 ms (missed cycles : 3). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904120 ms (missed cycles : 3).[0m ×2 + 46.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604203 ms (missed cycles : 6). + 46.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604203 ms (missed cycles : 6).[0m ×2 + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935518 ms (missed cycles : 3). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935518 ms (missed cycles : 3).[0m ×2 + 47.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 48.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 48.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873735 ms (missed cycles : 3). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873735 ms (missed cycles : 3).[0m ×2 + 49.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.706ms + 49.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605168 ms (missed cycles : 4). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605168 ms (missed cycles : 4).[0m ×2 + 50.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 51.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018869 ms (missed cycles : 2). + 51.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018869 ms (missed cycles : 2).[0m ×2 + 51.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.657ms + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773570 ms (missed cycles : 3). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773570 ms (missed cycles : 3).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886215 ms (missed cycles : 3). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886215 ms (missed cycles : 3).[0m ×2 + 53.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 54.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677030 ms (missed cycles : 2). + 54.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677030 ms (missed cycles : 2).[0m ×2 + 55.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 55.38sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788490514.99902654 seconds ×3 + 55.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891317 ms (missed cycles : 2). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891317 ms (missed cycles : 2).[0m ×2 + 55.49sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.49sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.79sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.79sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.91sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.95sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788490515.57617259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.35sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 56.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.686ms + 56.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176721 ms (missed cycles : 2). + 56.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176721 ms (missed cycles : 2).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768076 ms (missed cycles : 3). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768076 ms (missed cycles : 3).[0m ×2 + 58.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909654 ms (missed cycles : 2). + 58.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909654 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	177 warnings · 382 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 0.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.86sINFOobjective_server_nodecaller: ×12 + 0.86sINFOobjective_server_nodetype: 0 ×12 + 0.86sINFOobjective_server_nodename: "" ×12 + 0.86sINFOobjective_server_nodeinstance_id: "" ×12 + 0.86sINFOobjective_server_node ×12 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.91sINFOmove_groupClearing octomap...[0m ×2 + 0.91sINFOmove_groupOctomap cleared.[0m ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 3.25sWARNros2_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 ×12 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 4.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.81sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652627 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652627 ms (missed cycles : 3).[0m ×2 + 7.69sWARNros2_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 ×14 + 7.73sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 2.828ms + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159281 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159281 ms (missed cycles : 2).[0m ×2 + 8.27sWARNros2_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 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880147 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880147 ms (missed cycles : 3).[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966426 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966426 ms (missed cycles : 3).[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351275 ms (missed cycles : 3). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351275 ms (missed cycles : 3).[0m ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181335 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181335 ms (missed cycles : 2).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533121 ms (missed cycles : 4). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533121 ms (missed cycles : 4).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549033 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549033 ms (missed cycles : 4).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207767 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.207767 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152306 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152306 ms (missed cycles : 2).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791894 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791894 ms (missed cycles : 2).[0m ×2 + 18.26sWARNros2_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 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477132 ms (missed cycles : 3). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477132 ms (missed cycles : 3).[0m ×2 + 18.81sWARNros2_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 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410042 ms (missed cycles : 3). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410042 ms (missed cycles : 3).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466163 ms (missed cycles : 3). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466163 ms (missed cycles : 3).[0m ×2 + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936362 ms (missed cycles : 2). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936362 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636193 ms (missed cycles : 2). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636193 ms (missed cycles : 2).[0m ×2 + 23.84sWARNros2_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 + 23.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918106 ms (missed cycles : 3). + 23.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.918106 ms (missed cycles : 3).[0m ×2 + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519447 ms (missed cycles : 3). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519447 ms (missed cycles : 3).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446653 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446653 ms (missed cycles : 3).[0m ×2 + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512651 ms (missed cycles : 3). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512651 ms (missed cycles : 3).[0m ×2 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762638 ms (missed cycles : 3). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762638 ms (missed cycles : 3).[0m ×2 + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411629 ms (missed cycles : 3). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411629 ms (missed cycles : 3).[0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228431 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228431 ms (missed cycles : 2).[0m ×2 + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561524 ms (missed cycles : 3). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561524 ms (missed cycles : 3).[0m ×2 + 32.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129530 ms (missed cycles : 3). + 32.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129530 ms (missed cycles : 3).[0m ×2 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794886 ms (missed cycles : 3). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794886 ms (missed cycles : 3).[0m ×2 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711038 ms (missed cycles : 2). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711038 ms (missed cycles : 2).[0m ×2 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610680 ms (missed cycles : 3). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610680 ms (missed cycles : 3).[0m ×2 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329655 ms (missed cycles : 3). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329655 ms (missed cycles : 3).[0m ×2 + 37.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.019ms + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787834 ms (missed cycles : 2). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787834 ms (missed cycles : 2).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724955 ms (missed cycles : 2). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724955 ms (missed cycles : 2).[0m ×2 + 40.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242555 ms (missed cycles : 2). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242555 ms (missed cycles : 2).[0m ×2 + 41.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769588 ms (missed cycles : 3). + 41.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769588 ms (missed cycles : 3).[0m ×2 + 42.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711551 ms (missed cycles : 4). + 42.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711551 ms (missed cycles : 4).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2).[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2).[0m ×2 + 46.43sINFOjoint_trajectory_controllerGoal reached, success! + 46.43sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788490360.26925659 seconds ×3 + 46.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.01sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.01sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2).[0m ×2 + 47.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788490360.84227753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 48.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3). + 48.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3).[0m ×2 + 48.15sINFOobjective_server_nodeFound path in 0 iterations (2.5636e-05 s). ×2 + 48.21sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4). + 49.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2). + 50.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.8s	162 warnings · 182 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265331 ms (missed cycles : 2).[0m ×2 + 0.31sWARNros2_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 + 0.33sWARNros2_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 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204823 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204823 ms (missed cycles : 2).[0m ×2 + 1.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788490430.06115007 seconds ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832839 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832839 ms (missed cycles : 3).[0m ×2 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609111 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609111 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788490431.64107513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093179 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093179 ms (missed cycles : 2).[0m ×2 + 5.46sWARNros2_control_nodeCamera render tick took 0.65 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 + 5.49sWARNros2_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 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254513 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254513 ms (missed cycles : 4).[0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922550 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922550 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766325 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766325 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028783 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028783 ms (missed cycles : 2).[0m ×2 + 8.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.753ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248556 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248556 ms (missed cycles : 2).[0m ×2 + 9.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.456ms + 10.47sWARNros2_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 + 10.50sWARNros2_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 + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.433ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870334 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870334 ms (missed cycles : 3).[0m ×2 + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.276ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.178ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049313 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049313 ms (missed cycles : 2).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 12.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.011ms + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684871 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684871 ms (missed cycles : 3).[0m ×2 + 13.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.939ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998567 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998567 ms (missed cycles : 2).[0m ×2 + 14.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.590ms + 14.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.295ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911571 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911571 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.319ms + 15.95sWARNros2_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 + 15.97sWARNros2_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 + 15.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.539ms + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306181 ms (missed cycles : 5). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306181 ms (missed cycles : 5).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.019ms + 17.20sINFOamclParticle filter update iteration stats: 4683 particles 723 points - 12.984ms + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446639 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446639 ms (missed cycles : 2).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 3918 particles 723 points - 7.302ms + 18.36sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 5.794ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670368 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670368 ms (missed cycles : 3).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 2345 particles 723 points - 5.946ms + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542236 ms (missed cycles : 4). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542236 ms (missed cycles : 4).[0m ×2 + 19.57sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 3.776ms + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921127 ms (missed cycles : 3). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921127 ms (missed cycles : 3).[0m ×2 + 20.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.910ms + 21.36sWARNros2_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 + 21.38sWARNros2_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 + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252711 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252711 ms (missed cycles : 2).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652227 ms (missed cycles : 3). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652227 ms (missed cycles : 3).[0m ×2 + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.775ms + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226554 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226554 ms (missed cycles : 2).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955246 ms (missed cycles : 3). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955246 ms (missed cycles : 3).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.720ms + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101492 ms (missed cycles : 2). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101492 ms (missed cycles : 2).[0m ×2 + 26.43sWARNros2_control_nodeCamera render tick took 0.69 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 + 26.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.71 s); lidar_front (0.71 s); lidar_rear (0.71 s); wrist_camera (0.71 s). The render path has stopped producing new frames for them.[0m ×2 + 26.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995307 ms (missed cycles : 3). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995307 ms (missed cycles : 3).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.206ms + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722272 ms (missed cycles : 3). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722272 ms (missed cycles : 3).[0m ×2 + 28.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 29.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397726 ms (missed cycles : 5). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397726 ms (missed cycles : 5).[0m ×2 + 29.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091685 ms (missed cycles : 2). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091685 ms (missed cycles : 2).[0m ×2 + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 31.57sWARNros2_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 + 31.60sWARNros2_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 + 31.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2). + 31.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2).[0m ×2 + 32.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2).[0m ×2 + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 33.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2).[0m ×2 + 34.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 34.78sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788490462.83120155 seconds ×3 + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4).[0m ×2 + 34.87sWARNlocal_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 + 34.87sWARNlocal_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 + 35.32sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.33sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788490463.40886259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.37sWARNlocal_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 + 35.37sWARNlocal_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 + 35.77sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3).[0m ×2 + 35.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2).[0m ×2 + 37.14sWARNros2_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 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	108 warnings · 242 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 + 0.02sWARNros2_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 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063390 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063390 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389365 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389365 ms (missed cycles : 3).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904362 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904362 ms (missed cycles : 4).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788490655.42068791 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824169 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.824169 ms (missed cycles : 3).[0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.63sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.63sINFOobjective_server_nodecaller: ×6 + 3.63sINFOobjective_server_nodetype: 0 ×6 + 3.63sINFOobjective_server_nodename: "" ×6 + 3.63sINFOobjective_server_nodeinstance_id: "" ×6 + 3.63sINFOobjective_server_node ×6 + 3.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788490656.00631928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 3.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 3.38) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×7 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.058ms + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539570 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539570 ms (missed cycles : 2).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.313ms + 4.47sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.49sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802495 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802495 ms (missed cycles : 2).[0m ×2 + 5.50sWARNros2_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 + 5.53sWARNros2_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 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155213 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155213 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575247 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575247 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135225 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135225 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303667 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303667 ms (missed cycles : 2).[0m ×2 + 10.16sINFOobjective_server_nodeFound path in 0 iterations (5.99e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (4.99e-07 s). ×2 + 10.37sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.42sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 10.54sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675203 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.675203 ms (missed cycles : 3).[0m ×2 + 10.63sWARNros2_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 + 10.65sWARNros2_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 + 10.90sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 11.34sINFOobjective_server_nodeFound path in 33 iterations (0.0427154 s). ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061969 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061969 ms (missed cycles : 2).[0m ×2 + 11.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085492 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085492 ms (missed cycles : 3).[0m ×2 + 13.12sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.39sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092003 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092003 ms (missed cycles : 3).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621913 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621913 ms (missed cycles : 3).[0m ×2 + 15.65sWARNros2_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 + 15.67sWARNros2_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 + 15.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.032ms + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613860 ms (missed cycles : 4). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.613860 ms (missed cycles : 4).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.199ms + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260868 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260868 ms (missed cycles : 2).[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.722ms + 17.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.650ms + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5).[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.280ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2).[0m ×2 + 19.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788490671.70276546 seconds ×3 + 19.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.92sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490672.31671238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.00sINFOmove_groupClearing octomap...[0m ×2 + 20.01sINFOmove_groupOctomap cleared.[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.509ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2).[0m ×2 + 20.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490672.91685343 seconds ×3 + 20.75sWARNros2_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 + 21.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490673.48931265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2).[0m ×2 + 21.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490674.12949944 seconds ×3 + 22.04sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749449 ms (missed cycles : 2).
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.7s	111 errors · 38 warnings · 521 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.722ms + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.650ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5).[0m ×2 + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.280ms + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2).[0m ×2 + 1.99sINFOjoint_trajectory_controllerGoal reached, success! + 1.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788490671.70276546 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.56sINFOobjective_server_nodecaller: ×4 + 2.56sINFOobjective_server_nodetype: 0 ×4 + 2.56sINFOobjective_server_nodename: "" ×4 + 2.56sINFOobjective_server_nodeinstance_id: "" ×4 + 2.56sINFOobjective_server_node ×4 + 2.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490672.31671238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.64sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.509ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490672.91685343 seconds ×3 + 3.38sWARNros2_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 + 3.40sWARNros2_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 + 3.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.77sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490673.48931265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2).[0m ×2 + 4.14sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490674.12949944 seconds ×3 + 4.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749449 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749449 ms (missed cycles : 2).[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602063 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602063 ms (missed cycles : 3).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649853 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.649853 ms (missed cycles : 4).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276778 ms (missed cycles : 4). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.276778 ms (missed cycles : 4).[0m ×2 + 8.81sWARNros2_control_nodeCamera render tick took 0.51 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 + 8.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690681 ms (missed cycles : 4). + 9.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690681 ms (missed cycles : 4).[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952576 ms (missed cycles : 2). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952576 ms (missed cycles : 2).[0m ×2 + 10.77sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.78sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.79sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.80sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORweb_video_auth_proxy-38process has died [pid 7835, 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 + 10.80sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.80sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.81sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.82sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORweb_bridge_auth_proxy-37process has died [pid 7834, 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 + 10.82sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.82sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.83sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.84sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.84sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.85sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.87sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.88sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.89sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.90sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.91sINFOvideo_server-36process has finished cleanly [pid 7816] ×2 + 10.91sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.92sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.93sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.94sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.96sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.96sINFOcontroller_managerShutdown request received.... + 10.96sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.96sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.96sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.96sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.96sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.96sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.96sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.96sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.96sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.96sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.96sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.96sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.96sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.97sINFOcontroller_managerShutting down the controller manager. + 10.97sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.98sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.99sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.99sERRORmove_group-24process has died [pid 7722, 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_h5bld2z5 --params-file /tmp/launch_params_ty9g6oef --params-file /tmp/launch_params_56qz0gc1 --params-file /tmp/launch_params_f3nanuvu --params-file /tmp/launch_params_m4tnsubo --params-file /tmp/launch_params_kp2yt6xq']. ×2 + 11.00sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 11.01sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 11.02sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.03sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.04sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.05sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.05sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 11.06sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.06sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.06sINFOmap_serverDeactivating + 11.06sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.06sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.06sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.06sINFOcontroller_serverDeactivating + 11.06sINFOlocal_costmap.local_costmapDeactivating + 11.06sINFOvideo_server2026/09/04 02:58:00 INF shutting down gracefully ×2 + 11.06sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOvideo_server2026/09/04 02:58:00 INF [WebRTC] closing ×2 + 11.07sINFOvideo_server2026/09/04 02:58:00 INF [RTSP] closing ×2 + 11.07sINFOvideo_server2026/09/04 02:58:00 INF waiting for running hooks ×2 + 11.07sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.07sINFOmap_serverCleaning up + 11.07sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.07sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.07sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.07sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.07sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.07sERRORmove_groupStack trace (most recent call last) in thread 8399: ×2 + 11.07sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.07sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e5a65da63, in __clone ×2 + 11.07sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e5a5d0aa3, in ×2 + 11.07sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e5a862db3, in ×2 + 11.07sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f9e5afc7a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.07sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e5abf4620, in rclcpp::Rate::sleep() ×2 + 11.07sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e5ab36d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.07sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e5aaf8087, in ×2 + 11.07sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e5a831390, in __cxa_throw ×2 + 11.07sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e5a81ba54, in std::terminate() ×2 + 11.07sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e5a8310d9, in ×2 + 11.07sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e5a81bff4, in ×2 + 11.07sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e5a55c8fe, in abort ×2 + 11.07sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e5a57927d, in raise ×2 + 11.07sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e5a5d2b2c, in pthread_kill ×2 + 11.07sERRORmove_groupAborted (Signal sent by tkill() 7722 0) ×2 + 11.07sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.07sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.07sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.07sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.07sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.07sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.07sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.07sINFOros2_control_nodeFailed to publish log message to rosout: publisher's context is invalid, at ./src/rcl/publisher.c:423 ×2 + 11.07sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.07sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 11.07sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.07sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.07sINFOodom_qos_relay.pymain() ×2 + 11.07sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.07sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.07sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.07sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.07sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.07sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.08sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.08sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.08sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.08sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.08sERRORamclThe bond connection to the lifecycle manager has been broken + 11.12sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.14sINFOcontroller_serverCleaning up + 11.14sINFOlocal_costmap.local_costmapCleaning up + 11.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.18sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.18sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.18sINFOsmoother_serverDeactivating + 11.18sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.18sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.19sINFOsmoother_serverCleaning up + 11.20sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.20sINFOplanner_serverDeactivating + 11.20sINFOglobal_costmap.global_costmapDeactivating + 11.24sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.24sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.25sINFOplanner_serverCleaning up + 11.27sINFOglobal_costmap.global_costmapCleaning up + 11.27sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.27sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.27sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.27sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.27sINFOvelocity_smootherDeactivating + 11.27sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 11.28sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.28sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.32sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.32sINFObehavior_serverDeactivating + 11.32sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.33sINFObehavior_serverCleaning up + 11.33sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.33sINFObt_navigatorDeactivating + 11.33sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.34sINFObt_navigatorCleaning up + 11.39sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.39sINFOwaypoint_followerDeactivating + 11.39sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.50sINFObt_navigatorCompleted Cleaning up + 11.50sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.50sINFOwaypoint_followerCleaning up + 11.50sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.51sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.51sINFOvelocity_smootherCleaning up + 11.51sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.52sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.52sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 11.52sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.52sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.52sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.52sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.52sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.52sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.52sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.52sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.52sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.52sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.53sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.53sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.53sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.54sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.54sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.54sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.54sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.55sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.55sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.55sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.55sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.55sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.55sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.55sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.55sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.86sERRORcomponent_container_isolated-1process has died [pid 7601, 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___3eqb_4 --params-file /tmp/launch_params_hhv69amc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.89sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7815] ×2 + 11.89sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.96sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7788] ×2 + 11.98sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7782] ×2 + 11.98sINFOui_teleop_bridge-33process has finished cleanly [pid 7797] ×2 + 11.99sINFOexecute_objective_bridge-32process has finished cleanly [pid 7796] ×2 + 12.00sINFOcomponent_container_mt-31process has finished cleanly [pid 7795] ×2 + 12.01sINFOparameter_manager_node-25process has finished cleanly [pid 7776] ×2 + 12.02sINFOwaypoint_manager_node-26process has finished cleanly [pid 7779] ×2 + 12.02sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7695] ×2 + 12.03sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7694] ×2 + 12.04sINFOstatic_transform_publisher-9process has finished cleanly [pid 7609] ×2 + 12.05sINFOstatic_transform_publisher-8process has finished cleanly [pid 7608] ×2 + 12.06sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 12.06sINFOlidar_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 + 12.06sINFOlidar_flattener.pymain() ×2 + 12.06sINFOlidar_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 + 12.06sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 12.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.06sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 12.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.06sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 12.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.06sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.06sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.06sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 12.06sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.06sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 757, in _wait_for_ready_callbacks ×2 + 12.06sINFOlidar_flattener.pywait_set = _rclpy.WaitSet( ×2 + 12.06sINFOlidar_flattener.py^^^^^^^^^^^^^^^ ×2 + 12.06sINFOlidar_flattener.pyrclpy._rclpy_pybind11.RCLError: failed to initialize wait set: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/wait.c:130 ×2 + 12.07sINFOobjective_server_node[2026-09-04 02:58:01.760] [moveit_pro_license] [critical] ×2 + 12.07sINFOobjective_server_node************************************************* ×4 + 12.07sINFOobjective_server_node* MoveIt Pro License ×2 + 12.07sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.08sINFOstatic_transform_publisher-4process has finished cleanly [pid 7604] ×2 + 12.09sINFOstatic_transform_publisher-3process has finished cleanly [pid 7603] ×2 + 12.11sERRORlidar_flattener.py-7process has died [pid 7607, 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_m7_utdnb']. ×2 + 12.13sERRORodom_qos_relay.py-5process has died [pid 7605, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.14sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7606] ×2 + 12.15sINFOobjective_server_node_main-29process has finished cleanly [pid 7793] ×2 + 12.15sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 12.40sERRORcomponent_container_isolated-2process has died [pid 7602, 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___3eqb_4 --params-file /tmp/launch_params_5gtkr9r3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.10sINFOcomponent_container_mt-30process has finished cleanly [pid 7794] ×2 + 13.70sINFOros2_control_node-12process has finished cleanly [pid 7696] ×2 + 13.87sINFOweb_bridge-34process has finished cleanly [pid 7798] ×2 + 13.87sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.9s	3 errors · 90 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886215 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886215 ms (missed cycles : 3).[0m ×2 + 0.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677030 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677030 ms (missed cycles : 2).[0m ×2 + 1.32sWARNros2_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 ×2 + 1.34sWARNros2_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 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.635ms + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788490514.99902654 seconds ×3 + 2.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891317 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891317 ms (missed cycles : 2).[0m ×2 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.26sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.56sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.69sINFOobjective_server_nodecaller: ×4 + 2.69sINFOobjective_server_nodetype: 0 ×4 + 2.69sINFOobjective_server_nodename: "" ×4 + 2.69sINFOobjective_server_nodeinstance_id: "" ×4 + 2.69sINFOobjective_server_node ×4 + 2.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788490515.57617259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 3.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.686ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176721 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176721 ms (missed cycles : 2).[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768076 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768076 ms (missed cycles : 3).[0m ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909654 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909654 ms (missed cycles : 2).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543699 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543699 ms (missed cycles : 3).[0m ×2 + 6.65sWARNros2_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 + 6.67sWARNros2_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 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927390 ms (missed cycles : 2).[0m ×2 + 7.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.136ms + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.908ms + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143453 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.143453 ms (missed cycles : 2).[0m ×2 + 8.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.873ms + 9.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.754ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927788 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927788 ms (missed cycles : 3).[0m ×2 + 10.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.040ms + 10.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.893ms + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819027 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819027 ms (missed cycles : 3).[0m ×2 + 11.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.792ms + 11.90sWARNros2_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 + 11.92sWARNros2_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 + 11.94sINFOamclParticle filter update iteration stats: 4497 particles 723 points - 8.179ms + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390748 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390748 ms (missed cycles : 3).[0m ×2 + 12.52sINFOamclParticle filter update iteration stats: 3034 particles 723 points - 6.232ms + 12.98sINFOobjective_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 + 12.99sINFOjoint_trajectory_controllerGot request to cancel goal + 12.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 12.99sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 12.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.01sERRORobjective_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: 1788490525.86045361 seconds ×3 + 13.06sWARNlocal_costmap.local_costmapSensor origin at (-0.43, 2.60) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.06sWARNlocal_costmap.local_costmapSensor origin at (-1.33, 2.61) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 13.08sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.513ms + 13.16sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.16sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262165 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262165 ms (missed cycles : 2).[0m ×2 + 13.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.58sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788490526.43280649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.752ms + 14.03sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031052 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031052 ms (missed cycles : 2).[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619936 ms (missed cycles : 3). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619936 ms (missed cycles : 3).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720824 ms (missed cycles : 3). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720824 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	68 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.69sWARNros2_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 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788490423.65578270 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788490424.24101830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.39sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.39sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265331 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265331 ms (missed cycles : 2).[0m ×2 + 7.73sWARNros2_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 + 7.75sWARNros2_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 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204823 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204823 ms (missed cycles : 2).[0m ×2 + 9.44sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788490430.06115007 seconds ×3 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832839 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832839 ms (missed cycles : 3).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609111 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609111 ms (missed cycles : 2).[0m ×2 + 10.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.99sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788490431.64107513 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.40sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093179 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093179 ms (missed cycles : 2).[0m ×2 + 12.89sWARNros2_control_nodeCamera render tick took 0.65 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 + 12.91sWARNros2_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 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254513 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254513 ms (missed cycles : 4).[0m ×2 + 13.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922550 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922550 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	65 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700163 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700163 ms (missed cycles : 4).[0m ×2 + 0.01sWARNros2_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 + 0.03sWARNros2_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 + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473823 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473823 ms (missed cycles : 3).[0m ×2 + 1.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.232ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336639 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336639 ms (missed cycles : 3).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788490591.63296986 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.02sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.12sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854050 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854050 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788490592.20372057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.690ms + 3.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391272 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391272 ms (missed cycles : 3).[0m ×2 + 5.38sWARNros2_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 + 5.40sWARNros2_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 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665581 ms (missed cycles : 4). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665581 ms (missed cycles : 4).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 9.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 9.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.91sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 10.45sWARNros2_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 + 10.48sWARNros2_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 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 12.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	48 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2).[0m ×2 + 1.04sWARNros2_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 + 1.06sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788490360.26925659 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.11sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.11sINFOobjective_server_nodecaller: ×4 + 3.11sINFOobjective_server_nodetype: 0 ×4 + 3.11sINFOobjective_server_nodename: "" ×4 + 3.11sINFOobjective_server_nodeinstance_id: "" ×4 + 3.11sINFOobjective_server_node ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788490360.84227753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.5636e-05 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.34sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_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 + 6.53sWARNros2_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 + 6.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 7.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648848 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648848 ms (missed cycles : 2).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 8.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792908 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792908 ms (missed cycles : 2).[0m ×2 + 8.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788490366.38239980 seconds ×3 + 9.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.22sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788490366.95564437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.38sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 2.592ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234761 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234761 ms (missed cycles : 2).[0m ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797582 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797582 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500278 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500278 ms (missed cycles : 3).[0m ×2 + 11.64sWARNros2_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 + 11.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	25 warnings · 119 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.199ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260868 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260868 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.722ms + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.650ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.280ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788490671.70276546 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490672.31671238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.509ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490672.91685343 seconds ×3 + 3.95sWARNros2_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 + 3.97sWARNros2_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 + 4.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490673.48931265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2).[0m ×2 + 4.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490674.12949944 seconds ×3 + 5.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749449 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749449 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602063 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602063 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	51 warnings · 75 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788490462.83120155 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sWARNlocal_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 + 3.29sWARNlocal_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788490463.40886259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sWARNlocal_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 + 3.79sWARNlocal_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 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2).[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 (0.59 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 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 0.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.33sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.33sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.86sINFOobjective_server_nodecaller: ×10 + 0.86sINFOobjective_server_nodetype: 0 ×10 + 0.86sINFOobjective_server_nodename: "" ×10 + 0.86sINFOobjective_server_nodeinstance_id: "" ×10 + 0.86sINFOobjective_server_node ×10 + 0.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.91sINFOmove_groupClearing octomap...[0m ×2 + 0.91sINFOmove_groupOctomap cleared.[0m ×2 + 0.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_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 + 2.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 3.25sWARNros2_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 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 4.81sINFOjoint_trajectory_controllerReceived new action goal + 4.81sINFOjoint_trajectory_controllerAccepted new action goal + 4.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	25 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2).[0m ×2 + 1.04sWARNros2_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 + 1.06sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! + 2.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788490360.26925659 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788490360.84227753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.5636e-05 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOjoint_trajectory_controllerReceived new action goal + 4.33sINFOjoint_trajectory_controllerAccepted new action goal + 4.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	25 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542003 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136514 ms (missed cycles : 2).[0m ×2 + 1.04sWARNros2_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 + 1.06sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038163 ms (missed cycles : 2).[0m ×2 + 2.53sINFOjoint_trajectory_controllerGoal reached, success! + 2.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788490360.26925659 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040391 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788490360.84227753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.948ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808087 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.5636e-05 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOjoint_trajectory_controllerReceived new action goal + 4.33sINFOjoint_trajectory_controllerAccepted new action goal + 4.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253045 ms (missed cycles : 4).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.86sINFOobjective_server_nodecaller: ×10 + 2.86sINFOobjective_server_nodetype: 0 ×10 + 2.86sINFOobjective_server_nodename: "" ×10 + 2.86sINFOobjective_server_nodeinstance_id: "" ×10 + 2.86sINFOobjective_server_node ×10 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.24sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	26 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438187 ms (missed cycles : 2).[0m ×2 + 0.51sWARNros2_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 + 0.53sWARNros2_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 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 1.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648848 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648848 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 2.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.049ms + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792908 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792908 ms (missed cycles : 2).[0m ×2 + 2.66sINFOjoint_trajectory_controllerGoal reached, success! + 2.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788490366.38239980 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.23sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.23sINFOobjective_server_nodecaller: ×2 + 3.23sINFOobjective_server_nodetype: 0 ×2 + 3.23sINFOobjective_server_nodename: "" ×2 + 3.23sINFOobjective_server_nodeinstance_id: "" ×2 + 3.23sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788490366.95564437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.39sINFOamclParticle filter update iteration stats: 2124 particles 723 points - 2.592ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234761 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234761 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797582 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797582 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500278 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500278 ms (missed cycles : 3).[0m ×2 + 5.64sWARNros2_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 + 5.66sWARNros2_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 + 5.95sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.69sWARNros2_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 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788490423.65578270 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788490424.24101830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.69sWARNros2_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 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788490423.65578270 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788490424.24101830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.69sWARNros2_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 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788490423.65578270 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788490424.24101830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.69sWARNros2_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 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788490423.65578270 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788490424.24101830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966340 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689613 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720659 ms (missed cycles : 2).[0m ×2 + 2.67sWARNros2_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 + 2.69sWARNros2_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 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.876ms + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.03sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788490423.65578270 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.99) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867588 ms (missed cycles : 2).[0m ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.59sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.59sINFOobjective_server_nodecaller: ×2 + 3.59sINFOobjective_server_nodetype: 0 ×2 + 3.59sINFOobjective_server_nodename: "" ×2 + 3.59sINFOobjective_server_nodeinstance_id: "" ×2 + 3.59sINFOobjective_server_node ×2 + 3.62sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788490424.24101830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128509 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.39sINFOjoint_trajectory_controllerReceived new action goal + 4.39sINFOjoint_trajectory_controllerAccepted new action goal + 4.39sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.39sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072143 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.693921 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	51 warnings · 75 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788490462.83120155 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sWARNlocal_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 + 3.29sWARNlocal_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788490463.40886259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sWARNlocal_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 + 3.79sWARNlocal_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 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2).[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 (0.59 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 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	51 warnings · 75 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923581 ms (missed cycles : 2).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097484 ms (missed cycles : 2).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.979ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879176 ms (missed cycles : 2).[0m ×2 + 3.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 3.18sINFOjoint_trajectory_controllerGoal reached, success! + 3.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.21sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788490462.83120155 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168363 ms (missed cycles : 4).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.29sWARNlocal_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 + 3.29sWARNlocal_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 + 3.75sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.75sINFOobjective_server_nodecaller: ×2 + 3.75sINFOobjective_server_nodetype: 0 ×2 + 3.75sINFOobjective_server_nodename: "" ×2 + 3.75sINFOobjective_server_nodeinstance_id: "" ×2 + 3.75sINFOobjective_server_node ×2 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788490463.40886259 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sWARNlocal_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 + 3.79sWARNlocal_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 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355346 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994426 ms (missed cycles : 2).[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 (0.59 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 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584398 ms (missed cycles : 3).[0m ×2 + 6.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.86sINFOobjective_server_nodecaller: ×10 + 2.86sINFOobjective_server_nodetype: 0 ×10 + 2.86sINFOobjective_server_nodename: "" ×10 + 2.86sINFOobjective_server_nodeinstance_id: "" ×10 + 2.86sINFOobjective_server_node ×10 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.24sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.86sINFOobjective_server_nodecaller: ×10 + 2.86sINFOobjective_server_nodetype: 0 ×10 + 2.86sINFOobjective_server_nodename: "" ×10 + 2.86sINFOobjective_server_nodeinstance_id: "" ×10 + 2.86sINFOobjective_server_node ×10 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.24sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485855 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272149 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418717 ms (missed cycles : 2).[0m ×2 + 2.61sINFOjoint_trajectory_controllerGoal reached, success! + 2.61sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.66sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788490598.05385017 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.21sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.21sINFOobjective_server_nodecaller: ×2 + 3.21sINFOobjective_server_nodetype: 0 ×2 + 3.21sINFOobjective_server_nodename: "" ×2 + 3.21sINFOobjective_server_nodeinstance_id: "" ×2 + 3.21sINFOobjective_server_node ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788490598.64058971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866504 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 3.75sWARNros2_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 + 3.78sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365976 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914507 ms (missed cycles : 4).[0m ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391556 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	20 warnings · 119 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.199ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260868 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260868 ms (missed cycles : 2).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.722ms + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.650ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.064052 ms (missed cycles : 5).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.280ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256549 ms (missed cycles : 2).[0m ×2 + 2.56sINFOjoint_trajectory_controllerGoal reached, success! + 2.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788490671.70276546 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×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 + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788490672.31671238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.21sINFOmove_groupClearing octomap...[0m ×2 + 3.21sINFOmove_groupOctomap cleared.[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.509ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682943 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788490672.91685343 seconds ×3 + 3.95sWARNros2_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 + 3.97sWARNros2_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 + 4.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.34sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788490673.48931265 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217174 ms (missed cycles : 2).[0m ×2 + 4.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788490674.12949944 seconds ×3 + 5.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749449 ms (missed cycles : 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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	26 warnings · 303 info
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.24sINFOobjective_server_nodecaller: ×10 + 3.24sINFOobjective_server_nodetype: 0 ×10 + 3.24sINFOobjective_server_nodename: "" ×10 + 3.24sINFOobjective_server_nodeinstance_id: "" ×10 + 3.24sINFOobjective_server_node ×10 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.28sINFOmove_groupClearing octomap...[0m ×2 + 3.28sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.62sWARNros2_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 + 5.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.79sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	27 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.86sINFOobjective_server_nodecaller: ×10 + 2.86sINFOobjective_server_nodetype: 0 ×10 + 2.86sINFOobjective_server_nodename: "" ×10 + 2.86sINFOobjective_server_nodeinstance_id: "" ×10 + 2.86sINFOobjective_server_node ×10 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.24sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	26 warnings · 300 info
+ 0.00sWARNros2_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 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.37sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.71sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.71sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.72sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.72sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.24sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.24sINFOobjective_server_nodecaller: ×10 + 3.24sINFOobjective_server_nodetype: 0 ×10 + 3.24sINFOobjective_server_nodename: "" ×10 + 3.24sINFOobjective_server_nodeinstance_id: "" ×10 + 3.24sINFOobjective_server_node ×10 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.28sINFOmove_groupClearing octomap...[0m ×2 + 3.28sINFOmove_groupOctomap cleared.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 5.04sWARNros2_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 + 5.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_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 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.62sWARNros2_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 + 5.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.79sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.83sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.86sINFOobjective_server_nodecaller: ×10 + 2.86sINFOobjective_server_nodetype: 0 ×10 + 2.86sINFOobjective_server_nodename: "" ×10 + 2.86sINFOobjective_server_nodeinstance_id: "" ×10 + 2.86sINFOobjective_server_node ×10 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.24sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.86sINFOobjective_server_nodecaller: ×10 + 2.86sINFOobjective_server_nodetype: 0 ×10 + 2.86sINFOobjective_server_nodename: "" ×10 + 2.86sINFOobjective_server_nodeinstance_id: "" ×10 + 2.86sINFOobjective_server_node ×10 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.24sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	24 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124235 ms (missed cycles : 4).[0m ×2 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 2.32sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.32sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.34sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.86sINFOobjective_server_nodecaller: ×10 + 2.86sINFOobjective_server_nodetype: 0 ×10 + 2.86sINFOobjective_server_nodename: "" ×10 + 2.86sINFOobjective_server_nodeinstance_id: "" ×10 + 2.86sINFOobjective_server_node ×10 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.90sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 4.04sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.04sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_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 + 4.79sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.84sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 5.24sWARNros2_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 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 6.51sINFOobjective_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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[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 5.673526 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673526 ms (missed cycles : 4).[0m ×2 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066280 ms (missed cycles : 2).[0m ×2 + 1.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.26sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.26sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.80sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.80sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.80sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.80sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.80sINFOobjective_server_nodecaller: ×10 + 1.80sINFOobjective_server_nodetype: 0 ×10 + 1.80sINFOobjective_server_nodename: "" ×10 + 1.80sINFOobjective_server_nodeinstance_id: "" ×10 + 1.80sINFOobjective_server_node ×10 + 1.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490314.70350838 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 1.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490314.71378922 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959618 ms (missed cycles : 2).[0m ×2 + 2.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490315.28967333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490315.29978919 seconds ×3 + 2.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490315.87504339 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490316.02558017 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024900 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.73sINFOobjective_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 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490316.62502789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_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 + 3.78sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.78sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490316.68515563 seconds ×3 + 4.18sWARNros2_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 + 4.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.35sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490317.25269103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173644 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861951 ms (missed cycles : 5).[0m ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal + 5.74sINFOjoint_trajectory_controllerAccepted new action goal + 5.74sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.007190 ms (missed cycles : 4).[0m ×2