MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.7s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	20.1s	12 errors · 318 warnings · 1516 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/2026-09-04-03-02-29-838929-6bc530bbc565-7570 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.27sINFOstatic_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' + 4.27sINFOstatic_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' + 4.28sINFOstatic_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' + 4.30sINFOstatic_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' + 4.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.54sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.54sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.58sINFOcontroller_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. + 4.58sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.61sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.61sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.64sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.65sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.67sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.67sINFOros2_control_node-12process started with pid [7729] ×2 + 4.67sINFOmove_group-24process started with pid [7765] ×2 + 4.67sINFOparameter_manager_node-25process started with pid [7775] ×2 + 4.67sINFOwaypoint_manager_node-26process started with pid [7785] ×2 + 4.67sINFOmove_joint_resampler_node-27process started with pid [7786] ×2 + 4.67sINFOmove_end_effector_resampler_node-28process started with pid [7787] ×2 + 4.67sINFOobjective_server_node_main-29process started with pid [7788] ×2 + 4.67sINFOcomponent_container_mt-30process started with pid [7789] ×2 + 4.67sINFOcomponent_container_mt-31process started with pid [7790] ×2 + 4.67sINFOexecute_objective_bridge-32process started with pid [7791] ×2 + 4.67sINFOcontroller_managerupdate rate is 600 Hz + 4.67sINFOui_teleop_bridge-33process started with pid [7792] ×2 + 4.68sINFOweb_bridge-34process started with pid [7795] ×2 + 4.68sINFOtf2_web_republisher_node-35process started with pid [7796] ×2 + 4.68sINFOvideo_server-36process started with pid [7797] ×2 + 4.68sINFOweb_bridge_auth_proxy-37process started with pid [7798] ×2 + 4.68sINFOweb_video_auth_proxy-38process started with pid [7799] ×2 + 4.68sINFOcontroller_managerOverruns handling is : enabled + 4.68sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.68sWARNcontroller_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. + 4.68sINFOcomponent_container_isolated-1process started with pid [7620] ×2 + 4.68sINFOcomponent_container_isolated-2process started with pid [7621] ×2 + 4.68sINFOstatic_transform_publisher-3process started with pid [7622] ×2 + 4.68sINFOstatic_transform_publisher-4process started with pid [7623] ×2 + 4.68sINFOodom_qos_relay.py-5process started with pid [7624] ×2 + 4.68sINFOforward_stereo_publisher.py-6process started with pid [7625] ×2 + 4.68sINFOlidar_flattener.py-7process started with pid [7626] ×2 + 4.68sINFOstatic_transform_publisher-8process started with pid [7627] ×2 + 4.68sINFOstatic_transform_publisher-9process started with pid [7628] ×2 + 4.68sINFOscan_to_scan_filter_chain-10process started with pid [7727] ×2 + 4.68sINFOscan_to_scan_filter_chain-11process started with pid [7728] ×2 + 4.68sINFOros2-13process started with pid [7730] ×2 + 4.68sINFOros2-14process started with pid [7731] ×2 + 4.68sINFOros2-15process started with pid [7732] ×2 + 4.68sINFOros2-16process started with pid [7733] ×2 + 4.68sINFOros2-17process started with pid [7734] ×2 + 4.68sINFOros2-18process started with pid [7735] ×2 + 4.68sINFOros2-19process started with pid [7744] ×2 + 4.68sINFOcontroller_serverCreating controller server + 4.68sINFOros2-20process started with pid [7745] ×2 + 4.68sINFOros2-21process started with pid [7760] ×2 + 4.68sINFOros2-22process started with pid [7761] ×2 + 4.68sINFOros2-23process started with pid [7764] ×2 + 4.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 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 + 4.72sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.72sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.72sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.72sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.72sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.72sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.73sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.73sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.73sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.73sWARNros2_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 + 4.73sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.73sINFOlocal_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. + 4.75sINFOlocal_costmap.local_costmapCreating Costmap + 4.77sINFOlaunch_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> + 4.83sINFOsmoother_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. + 4.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.83sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.83sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.85sINFOsmoother_serverCreating smoother server + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.87sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.87sINFOmap_serverCreating + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.88sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.89sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.89sINFOplanner_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. + 4.90sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.92sINFOplanner_serverCreating + 4.94sINFOvideo_server2026/09/04 03:02:36 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.94sINFOvideo_server2026/09/04 03:02:36 INF configuration loaded from /tmp/moveit-webrtc-n8e8vg75/mediamtx.yml ×2 + 4.94sINFOvideo_server2026/09/04 03:02:36 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.94sINFOvideo_server2026/09/04 03:02:36 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.98sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.98sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.98sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.99sINFOglobal_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. + 4.99sINFOglobal_costmap.global_costmapCreating Costmap + 4.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.99sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.00sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.00sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.02sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.02sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.02sINFOlifecycle_manager_localizationCreating + 5.04sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.05sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.05sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.05sINFOmap_serverConfiguring + 5.07sINFObehavior_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. + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.13sINFOrobot_state_publisherRobot initialized + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.13sINFOcontroller_managerReceived robot description from topic. + 5.13sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.13sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.18sINFObt_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. + 5.19sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.19sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308566 ms (missed cycles : 5). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308566 ms (missed cycles : 5).[0m ×2 + 5.21sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.21sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.24sINFObt_navigatorCreating + 5.25sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.26sINFOamclConfiguring + 5.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.26sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.26sINFOmap_serverActivating + 5.27sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.27sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.28sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.28sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.31sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.32sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.35sINFOwaypoint_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. + 5.36sINFOwaypoint_followerCreating + 5.36sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.36sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.37sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.37sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.38sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.38sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.38sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.38sINFOamclActivating + 5.38sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.39sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.39sINFOamclSubscribed to map_topic: /map + 5.40sINFOamclSubscribed to scan_topic: /scan_merged + 5.41sINFOamclCreated reinitialize_global_localization service + 5.41sINFOamclCreated request_nomotion_update service + 5.42sINFOamclA new map was received + 5.42sINFOamclInitializing particle filter instance + 5.42sINFOvelocity_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. + 5.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.43sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.49sINFOlifecycle_manager_navigationCreating + 5.49sWARNlaser_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. + 5.49sWARNscan_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 + 5.49sWARNlaser_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. + 5.53sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.56sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.421718 seconds + 5.56sINFOmove_groupLoaded robot model in 0.421718 seconds[0m ×2 + 5.56sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.56sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.56sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.57sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.60sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.60sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.60sINFOcontroller_serverConfiguring controller interface + 5.60sINFOcontroller_servergetting progress checker plugins.. + 5.60sINFOcontroller_servergetting goal checker plugins.. + 5.60sINFOcontroller_serverController frequency set to 20.0000Hz + 5.60sINFOlocal_costmap.local_costmapConfiguring + 5.63sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.65sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.69sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.69sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.70sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.75sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.76sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.76sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.77sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.78sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.79sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 5.79sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.81sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.82sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.82sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.83sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.83sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.85sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.85sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.85sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.86sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.86sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.86sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.87sINFOcontroller_serverOptimizer reset ×2 + 5.88sINFOcontroller_serverController Server has FollowPath controllers available. + 5.90sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.90sINFOsmoother_serverConfiguring smoother server + 5.91sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.93sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.94sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.94sINFOplanner_serverConfiguring + 5.94sINFOglobal_costmap.global_costmapConfiguring + 5.97sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.99sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.99sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.99sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.00sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.05sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.05sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.06sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.12sINFOamclParticle filter initialization completed + 6.12sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.12sINFOamclInitializing particles from estimated pose and covariance + 6.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.12sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.12sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.12sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.12sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.12sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.12sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.13sINFOplanner_serverPlanner Server has GridBased planners available. + 6.17sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.17sINFObehavior_serverConfiguring + 6.17sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.18sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.18sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.18sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.19sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.19sINFObehavior_serverConfiguring spin + 6.20sINFObehavior_serverConfiguring backup + 6.21sINFObehavior_serverConfiguring drive_on_heading + 6.22sINFObehavior_serverConfiguring assisted_teleop + 6.24sINFObehavior_serverConfiguring wait + 6.25sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.25sINFObt_navigatorConfiguring + 6.26sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.27sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.37sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.37sWARNmove_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. + 6.37sWARNmove_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. + 6.37sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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. + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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 + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.37sWARNmove_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. + 6.37sWARNmove_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 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675511 ms (missed cycles : 3). + 6.38sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675511 ms (missed cycles : 3).[0m ×2 + 6.42sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.42sINFOwaypoint_followerConfiguring + 6.43sINFOwaypoint_manager_nodeLoaded robot model in 0.325161 seconds[0m ×2 + 6.43sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.43sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.46sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.46sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.46sINFOvelocity_smootherConfiguring velocity smoother + 6.46sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.46sINFOcontroller_serverActivating + 6.46sINFOlocal_costmap.local_costmapActivating + 6.46sINFOlocal_costmap.local_costmapChecking transform + 6.46sINFOlocal_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. ×3 + 6.63sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.63sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.63sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.63sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.65sINFOros2_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 + 6.65sINFOros2_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 + 6.70sINFOmove_group[2026-09-04 03:02:38.223] [moveit_pro_license] [info] ×2 + 6.70sINFOmove_group************************************************* ×4 + 6.70sINFOmove_group* MoveIt Pro License ×2 + 6.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_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 + 6.84sWARNwaypoint_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. + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 7.09sINFOwaypoint_manager_node[2026-09-04 03:02:38.611] [moveit_pro_license] [info] ×2 + 7.09sINFOwaypoint_manager_node************************************************* ×4 + 7.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.18sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.18sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.18sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.18sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.18sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.19sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.19sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.19sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.19sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.19sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.19sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.19sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.19sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.19sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×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 + 7.45sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.45sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.45sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 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 + 7.45sINFOros2_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_managerActivating component 'ur_mujoco_control'. + 7.45sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.46sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.46sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.46sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.46sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.46sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.46sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.46sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.46sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225526 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225526 ms (missed cycles : 2).[0m ×2 + 7.49sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.50sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.51sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 7.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 7.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.59sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.59sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.59sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.60sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.60sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.60sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.75sINFOros2_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 + 7.75sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.75sWARNros2_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 + 7.87sINFOobjective_server_node[2026-09-04 03:02:39.396] [moveit_pro_license] [info] ×2 + 7.88sINFOobjective_server_node************************************************* ×4 + 7.88sINFOobjective_server_node* MoveIt Pro License ×2 + 7.88sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.90sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.91sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 7.92sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 7.95sINFOobjective_server_nodeLoaded robot model in 0.0343468 seconds[0m ×2 + 7.96sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.96sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.96sINFOros2-15process has finished cleanly [pid 7732] ×2 + 7.96sINFOlocal_costmap.local_costmapstart + 7.99sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.99sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 8.00sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 8.00sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 8.00sINFOplatform_velocity_controller_nav2configure successful + 8.00sINFOros2_control_nodeconfigure successful[0m ×6 + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.01sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.01sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.04sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.04sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.04sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.04sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.05sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.05sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.07sWARNcontroller_serverParameter controller_server.verbose not found + 8.07sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 8.18sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 8.18sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 8.18sINFOsmoother_serverActivating + 8.18sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 8.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.22sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.25sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.25sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.27sINFOstreaming_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) + 8.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.28sINFOcomponent_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 + 8.28sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 8.28sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 8.28sINFOplanner_serverActivating + 8.28sINFOglobal_costmap.global_costmapActivating + 8.28sINFOglobal_costmap.global_costmapChecking transform + 8.28sINFOglobal_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. ×3 + 8.39sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.39sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.41sINFOros2-18process has finished cleanly [pid 7735] ×2 + 8.46sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.46sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.46sWARNobjective_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. + 8.46sWARNobjective_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. + 8.46sWARNobjective_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 + 8.46sWARNobjective_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. + 8.46sWARNobjective_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 + 8.46sWARNobjective_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 + 8.46sWARNobjective_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. + 8.46sWARNobjective_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 + 8.46sWARNobjective_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. + 8.46sWARNobjective_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. + 8.46sWARNobjective_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 + 8.46sWARNobjective_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 + 8.46sWARNobjective_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. + 8.46sWARNobjective_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. + 8.46sWARNobjective_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 + 8.46sWARNobjective_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 + 8.46sWARNobjective_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. + 8.46sWARNobjective_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. + 8.46sWARNobjective_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 + 8.46sWARNobjective_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 + 8.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.53sINFOobjective_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 + 8.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.53sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 8.53sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 8.55sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.55sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109385 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109385 ms (missed cycles : 2).[0m ×2 + 8.58sINFOcomponent_container_mtLoaded robot model in 0.360353 seconds[0m ×2 + 8.58sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.58sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.58sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.58sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.60sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.60sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.92sINFOmove_groupMoveGroup debug mode is ON + 8.92sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.92sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.97sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.98sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.02sWARNobjective_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 + 9.02sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.02sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.09sINFOmove_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 ****************************************************** + 9.09sINFOmove_group ×8 + 9.09sINFOmove_group****************************************************** ×4 + 9.09sINFOmove_group* MoveGroup using: ×2 + 9.09sINFOmove_group* - apply_planning_scene_service ×2 + 9.09sINFOmove_group* - clear_octomap_service ×2 + 9.09sINFOmove_group* - get_group_urdf ×2 + 9.09sINFOmove_group* - load_geometry_from_file ×2 + 9.09sINFOmove_group* - get_planning_scene_service ×2 + 9.09sINFOmove_group* - kinematics_service ×2 + 9.09sINFOmove_group* - save_geometry_to_file ×2 + 9.09sINFOmove_group* - GetPlanningGroups ×2 + 9.09sWARNplanning_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. + 9.09sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.09sINFOmove_group[0m ×2 + 9.09sWARNplanning_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. + 9.09sINFOmove_group[92mYou can start planning now![0m ×2 + 9.09sWARNplanning_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. + 9.09sWARNcomponent_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 + 9.09sWARNplanning_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. + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.09sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.10sWARNplanning_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. + 9.10sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.11sWARNplanning_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. + 9.11sWARNcomponent_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 + 9.12sINFOros2_control_node[2026-09-04 03:02:40.643] [info] Controller state will be published at 20 Hz. ×2 + 9.12sINFOros2_control_node[2026-09-04 03:02:40.644] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.28sINFOcomponent_container_mt[2026-09-04 03:02:40.805] [moveit_pro_license] [info] ×2 + 9.28sINFOcomponent_container_mt************************************************* ×4 + 9.28sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.28sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.43sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.43sINFOcontroller_managerLoading controller 'velocity_force_controller' + 9.44sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.44sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 9.48sINFOros2-22process has finished cleanly [pid 7761] ×2 + 9.50sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 9.51sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 9.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 9.55sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 9.55sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 9.55sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874375 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874375 ms (missed cycles : 2).[0m ×2 + 9.58sWARNros2_control_nodeCamera render tick took 1.00 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 9.62sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.62sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.62sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.62sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 6.691ms + 9.66sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.78sINFOglobal_costmap.global_costmapstart + 9.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 10.00sINFOros2_control_node[2026-09-04 03:02:41.517] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.00sINFOros2_control_node[2026-09-04 03:02:41.519] [info] Controller state will be published at 10 Hz. ×2 + 10.00sINFOros2_control_node[2026-09-04 03:02:41.520] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.22sWARNros2_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 ×2 + 10.30sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.30sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.30sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.30sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.31sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 10.31sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 10.33sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.35sINFOros2-20process has finished cleanly [pid 7745] ×2 + 10.35sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.35sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.36sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.36sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.37sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.37sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759615 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759615 ms (missed cycles : 2).[0m ×2 + 10.66sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.66sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.66sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.66sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.67sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 10.67sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 10.72sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.72sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.72sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.72sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.72sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.72sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.73sINFOros2-17process has finished cleanly [pid 7734] ×2 + 10.73sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.73sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.84sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 10.84sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 10.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.94sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 10.94sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 10.94sINFObehavior_serverActivating + 10.94sINFObehavior_serverActivating spin + 10.94sINFObehavior_serverActivating backup + 10.94sINFObehavior_serverActivating drive_on_heading + 10.94sINFObehavior_serverActivating assisted_teleop + 10.94sINFObehavior_serverActivating wait + 10.94sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 11.05sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 11.05sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 11.05sINFObt_navigatorActivating + 11.05sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.06sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.06sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 11.06sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 11.07sINFOros2-14process has finished cleanly [pid 7731] ×2 + 11.13sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 11.13sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.13sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.14sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.14sINFOplatform_velocity_controllerconfigure successful + 11.14sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.14sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.15sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.15sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.23sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 11.23sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 11.23sINFOwaypoint_followerActivating + 11.23sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 11.34sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 11.34sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 11.34sINFOvelocity_smootherActivating + 11.34sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 11.44sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 11.44sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 11.44sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 11.46sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.46sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.46sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.46sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 11.46sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.47sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 11.49sINFOros2-16process has finished cleanly [pid 7733] ×2 + 11.52sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.52sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.52sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.52sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728766 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728766 ms (missed cycles : 2).[0m ×2 + 11.96sINFOros2_control_node[2026-09-04 03:02:43.480] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.96sINFOros2_control_node[2026-09-04 03:02:43.483] [info] Controller state will be published at 10 Hz. ×2 + 11.96sINFOros2_control_node[2026-09-04 03:02:43.485] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.30sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.30sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.30sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.30sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.30sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 12.30sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 12.32sINFOros2-21process has finished cleanly [pid 7760] ×2 + 12.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.35sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.35sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192940 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192940 ms (missed cycles : 3).[0m ×2 + 12.76sINFOros2_control_node[2026-09-04 03:02:44.284] [info] Controller state will be published at 20 Hz. ×2 + 12.76sINFOros2_control_node[2026-09-04 03:02:44.285] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.10sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.10sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.10sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.10sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.10sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 13.10sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 13.12sINFOros2-23process has finished cleanly [pid 7764] ×2 + 13.16sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.16sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.16sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.17sINFOforce_torque_sensor_broadcasterconfigure successful + 13.17sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.17sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.49sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.49sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.49sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.49sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i + 13.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ru16d57 --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_pn8d21we --params-file /tmp/launch_params_zj07i11i [0m ×2 + 13.51sINFOros2-13process has finished cleanly [pid 7730] ×2 + 13.59sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 13.59sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 13.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.59sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.59sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.59sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.59sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.59sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.60sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.60sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.60sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.60sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.60sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.60sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171563 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171563 ms (missed cycles : 2).[0m ×2 + 13.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.83sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.83sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.92sINFOros2-19process has finished cleanly [pid 7744] ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386171 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386171 ms (missed cycles : 2).[0m ×2 + 14.90sWARNros2_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 ×4 + 15.50sWARNros2_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 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 17.49sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 18.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.96sINFOobjective_server_nodecaller: ×10 + 18.96sINFOobjective_server_nodetype: 0 ×10 + 18.96sINFOobjective_server_nodename: "" ×10 + 18.96sINFOobjective_server_nodeinstance_id: "" ×10 + 18.96sINFOobjective_server_node ×10 + 18.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.99sINFOmove_groupClearing octomap...[0m ×2 + 18.99sINFOmove_groupOctomap cleared.[0m ×2 + 19.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 19.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 20.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 20.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 20.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 20.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.93sINFOobjective_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 + 20.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 21.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.52sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	64.6s	3 errors · 296 warnings · 253 info
+ 0.00sWARNros2_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 + 0.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.678ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544035 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544035 ms (missed cycles : 3).[0m ×2 + 0.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.539ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.650ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339716 ms (missed cycles : 4). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339716 ms (missed cycles : 4).[0m ×2 + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 2.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202390 ms (missed cycles : 4). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202390 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 3440 particles 723 points - 7.052ms + 3.17sINFOobjective_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 + 3.17sINFOjoint_trajectory_controllerGot request to cancel goal + 3.17sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.17sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.18sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.19sERRORobjective_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: 1788491182.09134841 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.28sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.58sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 5.062ms + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788491182.67418766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011807 ms (missed cycles : 3). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011807 ms (missed cycles : 3).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.500ms + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264327 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264327 ms (missed cycles : 2).[0m ×2 + 5.23sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257467 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257467 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407053 ms (missed cycles : 3). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407053 ms (missed cycles : 3).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782773 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782773 ms (missed cycles : 2).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.815ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352111 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352111 ms (missed cycles : 3).[0m ×2 + 9.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.332ms + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963082 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963082 ms (missed cycles : 2).[0m ×2 + 10.42sWARNros2_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 + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.987ms + 11.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.654ms + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256066 ms (missed cycles : 3). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256066 ms (missed cycles : 3).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 3907 particles 723 points - 7.881ms + 12.23sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 5.857ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472857 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472857 ms (missed cycles : 3).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 3.148ms + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563928 ms (missed cycles : 2). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563928 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.173ms + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848397 ms (missed cycles : 3). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.848397 ms (missed cycles : 3).[0m ×2 + 14.62sWARNros2_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 + 14.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms ×2 + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms ×2 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134720 ms (missed cycles : 3). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134720 ms (missed cycles : 3).[0m ×2 + 15.84sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157860 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157860 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.808ms + 17.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347995 ms (missed cycles : 3).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802256 ms (missed cycles : 3). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802256 ms (missed cycles : 3).[0m ×2 + 18.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms ×2 + 19.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073304 ms (missed cycles : 4). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073304 ms (missed cycles : 4).[0m ×2 + 20.14sWARNros2_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 ×4 + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638096 ms (missed cycles : 3). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638096 ms (missed cycles : 3).[0m ×2 + 21.37sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141028 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141028 ms (missed cycles : 2).[0m ×2 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520692 ms (missed cycles : 3). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520692 ms (missed cycles : 3).[0m ×2 + 23.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371525 ms (missed cycles : 3). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371525 ms (missed cycles : 3).[0m ×2 + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903907 ms (missed cycles : 2). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903907 ms (missed cycles : 2).[0m ×2 + 25.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.745ms + 25.67sWARNros2_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 + 25.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479139 ms (missed cycles : 4). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479139 ms (missed cycles : 4).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095743 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095743 ms (missed cycles : 3).[0m ×2 + 26.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.942ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.485ms + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201900 ms (missed cycles : 2). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201900 ms (missed cycles : 2).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.151ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053410 ms (missed cycles : 4). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053410 ms (missed cycles : 4).[0m ×2 + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms ×2 + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336364 ms (missed cycles : 2). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336364 ms (missed cycles : 2).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms ×2 + 30.13sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289565 ms (missed cycles : 4). + 31.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289565 ms (missed cycles : 4).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.440ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829238 ms (missed cycles : 5). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.829238 ms (missed cycles : 5).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 33.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.926ms + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155445 ms (missed cycles : 2). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155445 ms (missed cycles : 2).[0m ×2 + 33.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 34.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915669 ms (missed cycles : 5). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915669 ms (missed cycles : 5).[0m ×2 + 34.83sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.83sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.28sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800814 ms (missed cycles : 2). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800814 ms (missed cycles : 2).[0m ×2 + 35.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.70 s); lidar_front (0.70 s); lidar_rear (0.70 s); wrist_camera (0.70 s). The render path has stopped producing new frames for them.[0m ×2 + 36.24sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100438 ms (missed cycles : 3). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100438 ms (missed cycles : 3).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108355 ms (missed cycles : 2). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108355 ms (missed cycles : 2).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851547 ms (missed cycles : 3). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851547 ms (missed cycles : 3).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657967 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657967 ms (missed cycles : 2).[0m ×2 + 40.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 40.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039044 ms (missed cycles : 3). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039044 ms (missed cycles : 3).[0m ×2 + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105730 ms (missed cycles : 2). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105730 ms (missed cycles : 2).[0m ×2 + 42.60sWARNros2_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 + 42.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802563 ms (missed cycles : 3). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802563 ms (missed cycles : 3).[0m ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225979 ms (missed cycles : 3). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225979 ms (missed cycles : 3).[0m ×2 + 45.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355328 ms (missed cycles : 3). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355328 ms (missed cycles : 3).[0m ×2 + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816310 ms (missed cycles : 2). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816310 ms (missed cycles : 2).[0m ×2 + 46.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.778ms + 47.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757893 ms (missed cycles : 5). + 47.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757893 ms (missed cycles : 5).[0m ×2 + 47.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 48.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056521 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056521 ms (missed cycles : 3).[0m ×2 + 49.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154527 ms (missed cycles : 2). + 49.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154527 ms (missed cycles : 2).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 49.60sINFOobjective_server_nodePlanning for 18 path waypoints. ×3 + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600017 ms (missed cycles : 4). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600017 ms (missed cycles : 4).[0m ×2 + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.634146 ms (missed cycles : 5). + 51.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.634146 ms (missed cycles : 5).[0m ×2 + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656889 ms (missed cycles : 3). + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656889 ms (missed cycles : 3).[0m ×2 + 53.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250068 ms (missed cycles : 3). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250068 ms (missed cycles : 3).[0m ×2 + 54.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008234 ms (missed cycles : 2). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008234 ms (missed cycles : 2).[0m ×2 + 54.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 55.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.580ms + 55.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106762 ms (missed cycles : 2). + 55.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106762 ms (missed cycles : 2).[0m ×2 + 56.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044446 ms (missed cycles : 3). + 56.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044446 ms (missed cycles : 3).[0m ×2 + 56.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666451 ms (missed cycles : 2). + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666451 ms (missed cycles : 2).[0m ×2 + 57.87sWARNros2_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 + 58.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608007 ms (missed cycles : 3). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608007 ms (missed cycles : 3).[0m ×2 + 58.75sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 59.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272536 ms (missed cycles : 2). + 59.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272536 ms (missed cycles : 2).[0m ×2 + 60.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554061 ms (missed cycles : 6). + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554061 ms (missed cycles : 6).[0m ×2 + 61.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257049 ms (missed cycles : 2). + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257049 ms (missed cycles : 2).[0m ×2 + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263488 ms (missed cycles : 3). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263488 ms (missed cycles : 3).[0m ×2 + 63.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 63.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 63.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272080 ms (missed cycles : 3). + 63.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272080 ms (missed cycles : 3).[0m ×2 + 64.55sWARNros2_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 + 64.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795922 ms (missed cycles : 6). + 64.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795922 ms (missed cycles : 6).[0m ×2 + 65.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134188 ms (missed cycles : 2). + 65.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134188 ms (missed cycles : 2).[0m ×2 + 66.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 66.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426344 ms (missed cycles : 4). + 66.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426344 ms (missed cycles : 4).[0m ×2 + 67.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 67.80sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788491246.70452142 seconds ×3 + 67.88sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 67.88sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 68.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720169 ms (missed cycles : 2). + 68.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720169 ms (missed cycles : 2).[0m ×2 + 68.28sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.28sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 68.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.34sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.37sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788491247.27864671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 68.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.535ms + 69.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679460 ms (missed cycles : 5). + 69.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679460 ms (missed cycles : 5).[0m ×2 + 70.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760160 ms (missed cycles : 5). + 70.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760160 ms (missed cycles : 5).[0m ×2 + 71.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.4s	242 warnings · 200 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.91sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sWARNros2_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 ×4 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.33sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.33sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962956 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962956 ms (missed cycles : 2).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929939 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929939 ms (missed cycles : 2).[0m ×2 + 8.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.132ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702384 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702384 ms (missed cycles : 3).[0m ×2 + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.541ms + 10.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.643ms + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437839 ms (missed cycles : 4). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437839 ms (missed cycles : 4).[0m ×2 + 10.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.782ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051564 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051564 ms (missed cycles : 2).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.713ms + 11.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.083ms + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845803 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845803 ms (missed cycles : 2).[0m ×2 + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.470ms ×2 + 12.94sWARNros2_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 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135909 ms (missed cycles : 5). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135909 ms (missed cycles : 5).[0m ×2 + 13.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.085ms + 14.10sWARNros2_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 + 14.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.754ms + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064331 ms (missed cycles : 3). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064331 ms (missed cycles : 3).[0m ×2 + 14.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.317ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.806ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046738 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046738 ms (missed cycles : 3).[0m ×2 + 15.98sINFOamclParticle filter update iteration stats: 4725 particles 723 points - 9.460ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941300 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941300 ms (missed cycles : 2).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 3897 particles 723 points - 7.031ms + 17.21sINFOamclParticle filter update iteration stats: 2847 particles 723 points - 6.025ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913573 ms (missed cycles : 3). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913573 ms (missed cycles : 3).[0m ×2 + 17.81sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 4.244ms + 18.39sWARNros2_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 + 18.41sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 3.511ms + 18.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080895 ms (missed cycles : 3). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080895 ms (missed cycles : 3).[0m ×2 + 18.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432221 ms (missed cycles : 2). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432221 ms (missed cycles : 2).[0m ×2 + 19.60sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 19.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841490 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841490 ms (missed cycles : 2).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 21.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.325ms + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422390 ms (missed cycles : 3). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422390 ms (missed cycles : 3).[0m ×2 + 22.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701404 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701404 ms (missed cycles : 2).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714521 ms (missed cycles : 2). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714521 ms (missed cycles : 2).[0m ×2 + 23.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×6 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079670 ms (missed cycles : 5). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079670 ms (missed cycles : 5).[0m ×2 + 25.18sWARNros2_control_nodeCamera render tick took 0.63 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms ×2 + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.453ms + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906207 ms (missed cycles : 2). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906207 ms (missed cycles : 2).[0m ×2 + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 27.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.542ms + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814702 ms (missed cycles : 2). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814702 ms (missed cycles : 2).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742463 ms (missed cycles : 3). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742463 ms (missed cycles : 3).[0m ×2 + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.893ms + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635213 ms (missed cycles : 3). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635213 ms (missed cycles : 3).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.558ms + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743228 ms (missed cycles : 3). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743228 ms (missed cycles : 3).[0m ×2 + 30.76sWARNros2_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 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340048 ms (missed cycles : 3). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340048 ms (missed cycles : 3).[0m ×2 + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 32.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016700 ms (missed cycles : 2). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016700 ms (missed cycles : 2).[0m ×2 + 32.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.916ms + 33.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340277 ms (missed cycles : 3). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340277 ms (missed cycles : 3).[0m ×2 + 34.52sWARNros2_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 + 34.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205513 ms (missed cycles : 5). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.205513 ms (missed cycles : 5).[0m ×2 + 34.74sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568879 ms (missed cycles : 2). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568879 ms (missed cycles : 2).[0m ×2 + 35.79sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238370 ms (missed cycles : 5). + 36.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.238370 ms (missed cycles : 5).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124135 ms (missed cycles : 3). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124135 ms (missed cycles : 3).[0m ×2 + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462220 ms (missed cycles : 3). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462220 ms (missed cycles : 3).[0m ×2 + 39.55sWARNros2_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 + 39.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095644 ms (missed cycles : 2). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095644 ms (missed cycles : 2).[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182690 ms (missed cycles : 4). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182690 ms (missed cycles : 4).[0m ×2 + 41.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344356 ms (missed cycles : 3). + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344356 ms (missed cycles : 3).[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780079 ms (missed cycles : 2). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780079 ms (missed cycles : 2).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182280 ms (missed cycles : 2). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.182280 ms (missed cycles : 2).[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497576 ms (missed cycles : 3). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497576 ms (missed cycles : 3).[0m ×2 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685705 ms (missed cycles : 4). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685705 ms (missed cycles : 4).[0m ×2 + 46.94sWARNros2_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 + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870161 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870161 ms (missed cycles : 2).[0m ×2 + 48.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535356 ms (missed cycles : 5). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535356 ms (missed cycles : 5).[0m ×2 + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.747ms + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105806 ms (missed cycles : 3). + 49.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105806 ms (missed cycles : 3).[0m ×2 + 50.71sWARNros2_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 + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513718 ms (missed cycles : 3). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513718 ms (missed cycles : 3).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842885 ms (missed cycles : 2). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842885 ms (missed cycles : 2).[0m ×2 + 52.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 52.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224880 ms (missed cycles : 5). + 52.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224880 ms (missed cycles : 5).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353175 ms (missed cycles : 3). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353175 ms (missed cycles : 3).[0m ×2 + 55.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862479 ms (missed cycles : 4). + 55.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862479 ms (missed cycles : 4).[0m ×2 + 55.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636417 ms (missed cycles : 5). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.636417 ms (missed cycles : 5).[0m ×2 + 57.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087917 ms (missed cycles : 2). + 57.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087917 ms (missed cycles : 2).[0m ×2 + 58.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947530 ms (missed cycles : 4). + 58.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947530 ms (missed cycles : 4).[0m ×2 + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234216 ms (missed cycles : 3). + 59.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234216 ms (missed cycles : 3).[0m ×2 + 60.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811431 ms (missed cycles : 2). + 60.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811431 ms (missed cycles : 2).[0m ×2 + 60.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788491310.53991866 seconds ×3 + 60.50sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.50sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 60.61sWARNlocal_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 + 60.61sWARNlocal_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 + 60.90sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.90sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788491311.12904835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382221 ms (missed cycles : 4). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382221 ms (missed cycles : 4).[0m ×2 + 61.31sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 61.65sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.69sWARNros2_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 + 62.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684978 ms (missed cycles : 3). + 62.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684978 ms (missed cycles : 3).[0m ×2 + 63.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432411 ms (missed cycles : 3). + 63.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432411 ms (missed cycles : 3).[0m ×2 + 63.40sWARNros2_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
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	248 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325430 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325430 ms (missed cycles : 2).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403824 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403824 ms (missed cycles : 5).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788491022.16687965 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700295 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700295 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788491022.74274421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.546ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736554 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736554 ms (missed cycles : 2).[0m ×2 + 4.28sWARNros2_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 + 4.86sWARNros2_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 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441266 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441266 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.34sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.34sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.34sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441040 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441040 ms (missed cycles : 3).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400104 ms (missed cycles : 4). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400104 ms (missed cycles : 4).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 3.786ms + 9.31sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.34sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.872ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807858 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807858 ms (missed cycles : 2).[0m ×2 + 9.88sWARNros2_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 + 9.90sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 2.584ms + 10.00sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786205 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786205 ms (missed cycles : 3).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585075 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585075 ms (missed cycles : 3).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 12.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.626ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210063 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210063 ms (missed cycles : 2).[0m ×2 + 12.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731501 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731501 ms (missed cycles : 2).[0m ×2 + 13.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 14.53sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 14.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.084ms + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826855 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826855 ms (missed cycles : 3).[0m ×2 + 15.13sWARNros2_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 + 15.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430184 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430184 ms (missed cycles : 3).[0m ×2 + 16.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms ×2 + 16.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450392 ms (missed cycles : 2). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450392 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.898ms + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226936 ms (missed cycles : 3). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226936 ms (missed cycles : 3).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 18.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 19.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875785 ms (missed cycles : 2). + 19.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875785 ms (missed cycles : 2).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 19.90sWARNros2_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 ×10 + 19.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904158 ms (missed cycles : 2). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904158 ms (missed cycles : 2).[0m ×2 + 20.54sWARNros2_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 + 20.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.217ms + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778620 ms (missed cycles : 3). + 21.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778620 ms (missed cycles : 3).[0m ×2 + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.686ms + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615558 ms (missed cycles : 3). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615558 ms (missed cycles : 3).[0m ×2 + 22.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 22.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654893 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654893 ms (missed cycles : 3).[0m ×2 + 23.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.429ms + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916752 ms (missed cycles : 2). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916752 ms (missed cycles : 2).[0m ×2 + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.365ms + 25.41sWARNros2_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 + 25.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.435ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384559 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384559 ms (missed cycles : 3).[0m ×2 + 26.03sWARNros2_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 + 26.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921984 ms (missed cycles : 3). + 26.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921984 ms (missed cycles : 3).[0m ×2 + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 27.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030189 ms (missed cycles : 2). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030189 ms (missed cycles : 2).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.854ms + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196722 ms (missed cycles : 3). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196722 ms (missed cycles : 3).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.799ms + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.081ms + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476165 ms (missed cycles : 4). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476165 ms (missed cycles : 4).[0m ×2 + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.238ms + 30.89sWARNros2_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 + 30.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980433 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980433 ms (missed cycles : 2).[0m ×2 + 31.54sWARNros2_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 ×4 + 31.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418717 ms (missed cycles : 3). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418717 ms (missed cycles : 3).[0m ×2 + 32.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512598 ms (missed cycles : 6). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.512598 ms (missed cycles : 6).[0m ×2 + 33.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800526 ms (missed cycles : 4). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800526 ms (missed cycles : 4).[0m ×2 + 34.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.008ms + 34.76sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593835 ms (missed cycles : 4). + 35.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.593835 ms (missed cycles : 4).[0m ×2 + 36.39sWARNros2_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 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889993 ms (missed cycles : 2). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889993 ms (missed cycles : 2).[0m ×2 + 37.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796342 ms (missed cycles : 3). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796342 ms (missed cycles : 3).[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843111 ms (missed cycles : 4). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843111 ms (missed cycles : 4).[0m ×2 + 39.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845225 ms (missed cycles : 2). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845225 ms (missed cycles : 2).[0m ×2 + 40.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075049 ms (missed cycles : 3). + 40.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075049 ms (missed cycles : 3).[0m ×2 + 41.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496132 ms (missed cycles : 3).[0m ×2 + 42.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.922768 ms (missed cycles : 5). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.922768 ms (missed cycles : 5).[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230081 ms (missed cycles : 4). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230081 ms (missed cycles : 4).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926579 ms (missed cycles : 3). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926579 ms (missed cycles : 3).[0m ×2 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934471 ms (missed cycles : 2). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934471 ms (missed cycles : 2).[0m ×2 + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961958 ms (missed cycles : 3). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961958 ms (missed cycles : 3).[0m ×2 + 48.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012579 ms (missed cycles : 4). + 48.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012579 ms (missed cycles : 4).[0m ×2 + 49.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134941 ms (missed cycles : 5). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134941 ms (missed cycles : 5).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924471 ms (missed cycles : 3). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924471 ms (missed cycles : 3).[0m ×2 + 51.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604506 ms (missed cycles : 5). + 51.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.604506 ms (missed cycles : 5).[0m ×2 + 52.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994555 ms (missed cycles : 3). + 52.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994555 ms (missed cycles : 3).[0m ×2 + 53.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266289 ms (missed cycles : 2). + 53.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266289 ms (missed cycles : 2).[0m ×2 + 54.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597789 ms (missed cycles : 3). + 54.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597789 ms (missed cycles : 3).[0m ×2 + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432681 ms (missed cycles : 2). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432681 ms (missed cycles : 2).[0m ×2 + 56.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495270 ms (missed cycles : 5). + 56.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.495270 ms (missed cycles : 5).[0m ×2 + 58.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3). + 58.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3).[0m ×2 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3). + 59.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3).[0m ×2 + 59.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 60.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2). + 60.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2).[0m ×2 + 60.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491079.41287947 seconds ×3 + 60.47sWARNlocal_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. ×6 + 60.47sWARNlocal_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. ×6 + 60.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.94sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491079.99913836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 9.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.07sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 9.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5). + 61.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5).[0m ×2 + 61.36sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 61.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.912ms + 61.68sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2). + 62.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2).[0m ×2 + 63.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2). + 63.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2).[0m ×2 + 63.78sWARNros2_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
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.9s	240 warnings · 218 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3).[0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.15sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491118.45849037 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.31sWARNlocal_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. ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2).[0m ×2 + 3.71sWARNlocal_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 + 3.71sWARNlocal_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. ×7 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491119.03648400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.747ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.88sWARNros2_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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.54sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.54sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317597 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317597 ms (missed cycles : 3).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598895 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598895 ms (missed cycles : 2).[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.429ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815523 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815523 ms (missed cycles : 3).[0m ×2 + 9.96sWARNros2_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 + 9.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.804ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407749 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407749 ms (missed cycles : 4).[0m ×2 + 10.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.975ms + 11.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.116ms + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298831 ms (missed cycles : 4). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298831 ms (missed cycles : 4).[0m ×2 + 11.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.197ms + 12.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.529ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329749 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329749 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.331ms + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781630 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781630 ms (missed cycles : 2).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.289ms + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.741ms + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383905 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383905 ms (missed cycles : 3).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 7.180ms + 15.37sWARNros2_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 + 15.39sWARNros2_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 + 15.41sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 5.577ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562631 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562631 ms (missed cycles : 3).[0m ×2 + 16.04sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.782ms + 16.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811774 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811774 ms (missed cycles : 2).[0m ×2 + 17.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 17.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786920 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786920 ms (missed cycles : 3).[0m ×2 + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423701 ms (missed cycles : 3). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423701 ms (missed cycles : 3).[0m ×2 + 19.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.258ms + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852391 ms (missed cycles : 4). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.852391 ms (missed cycles : 4).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 20.83sWARNros2_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 + 20.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543794 ms (missed cycles : 4). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543794 ms (missed cycles : 4).[0m ×2 + 21.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.804ms + 22.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910171 ms (missed cycles : 2). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910171 ms (missed cycles : 2).[0m ×2 + 22.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222585 ms (missed cycles : 3). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222585 ms (missed cycles : 3).[0m ×2 + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843521 ms (missed cycles : 3). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843521 ms (missed cycles : 3).[0m ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.439ms + 25.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.859ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033911 ms (missed cycles : 4). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033911 ms (missed cycles : 4).[0m ×2 + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 25.85sWARNros2_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 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822507 ms (missed cycles : 2). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822507 ms (missed cycles : 2).[0m ×2 + 26.51sWARNros2_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 + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.102ms + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001889 ms (missed cycles : 4). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001889 ms (missed cycles : 4).[0m ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 28.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922232 ms (missed cycles : 2). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922232 ms (missed cycles : 2).[0m ×2 + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.143ms + 29.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726024 ms (missed cycles : 2). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726024 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112517 ms (missed cycles : 2). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112517 ms (missed cycles : 2).[0m ×2 + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.911ms + 31.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.264ms + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556305 ms (missed cycles : 3). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556305 ms (missed cycles : 3).[0m ×2 + 32.01sWARNros2_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 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557387 ms (missed cycles : 2). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557387 ms (missed cycles : 2).[0m ×2 + 33.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.832ms + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881464 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881464 ms (missed cycles : 2).[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061712 ms (missed cycles : 3). + 35.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061712 ms (missed cycles : 3).[0m ×2 + 35.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.751ms + 36.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191875 ms (missed cycles : 2). + 36.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191875 ms (missed cycles : 2).[0m ×2 + 36.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 37.06sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890368 ms (missed cycles : 5). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890368 ms (missed cycles : 5).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184610 ms (missed cycles : 4). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184610 ms (missed cycles : 4).[0m ×2 + 38.55sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761046 ms (missed cycles : 2). + 39.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761046 ms (missed cycles : 2).[0m ×2 + 39.51sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302221 ms (missed cycles : 2). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302221 ms (missed cycles : 2).[0m ×2 + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572463 ms (missed cycles : 3). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.572463 ms (missed cycles : 3).[0m ×2 + 41.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×4 + 42.23sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 42.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.664ms + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309768 ms (missed cycles : 4). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309768 ms (missed cycles : 4).[0m ×2 + 42.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 43.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975842 ms (missed cycles : 2). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975842 ms (missed cycles : 2).[0m ×2 + 44.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390415 ms (missed cycles : 3). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390415 ms (missed cycles : 3).[0m ×2 + 44.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648638 ms (missed cycles : 2). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648638 ms (missed cycles : 2).[0m ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120677 ms (missed cycles : 2). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120677 ms (missed cycles : 2).[0m ×2 + 47.37sWARNros2_control_nodeCamera render tick took 0.67 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082001 ms (missed cycles : 3). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082001 ms (missed cycles : 3).[0m ×2 + 48.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 48.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.887ms + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.795569 ms (missed cycles : 5). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.795569 ms (missed cycles : 5).[0m ×2 + 49.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 49.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676409 ms (missed cycles : 2). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676409 ms (missed cycles : 2).[0m ×2 + 50.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 51.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.059ms + 51.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798417 ms (missed cycles : 3). + 51.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.798417 ms (missed cycles : 3).[0m ×2 + 51.75sWARNros2_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 + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756474 ms (missed cycles : 4). + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.756474 ms (missed cycles : 4).[0m ×2 + 52.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.402ms + 53.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289791 ms (missed cycles : 6). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289791 ms (missed cycles : 6).[0m ×2 + 54.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448407 ms (missed cycles : 4). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448407 ms (missed cycles : 4).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761574 ms (missed cycles : 3). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761574 ms (missed cycles : 3).[0m ×2 + 55.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 56.07sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788491171.34661865 seconds ×3 + 56.21sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.21sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 56.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531109 ms (missed cycles : 2). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531109 ms (missed cycles : 2).[0m ×2 + 56.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 56.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.66sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788491171.92998958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.898ms + 57.06sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082187 ms (missed cycles : 3). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082187 ms (missed cycles : 3).[0m ×2 + 58.40sWARNros2_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 + 58.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895178 ms (missed cycles : 4). + 58.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895178 ms (missed cycles : 4).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	181 warnings · 379 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.95sINFOobjective_server_nodecaller: ×12 + 0.95sINFOobjective_server_nodetype: 0 ×12 + 0.95sINFOobjective_server_nodename: "" ×12 + 0.95sINFOobjective_server_nodeinstance_id: "" ×12 + 0.95sINFOobjective_server_node ×12 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.99sINFOmove_groupClearing octomap...[0m ×2 + 0.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 1.97sWARNros2_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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 2.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_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 + 2.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762126 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762126 ms (missed cycles : 2).[0m ×2 + 6.98sWARNros2_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 ×6 + 7.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921395 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921395 ms (missed cycles : 2).[0m ×2 + 8.13sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.955ms + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061940 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061940 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414592 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414592 ms (missed cycles : 3).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866398 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866398 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745439 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745439 ms (missed cycles : 3).[0m ×2 + 11.99sWARNros2_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 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380094 ms (missed cycles : 3). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380094 ms (missed cycles : 3).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025476 ms (missed cycles : 3). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025476 ms (missed cycles : 3).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479298 ms (missed cycles : 3). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479298 ms (missed cycles : 3).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147644 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147644 ms (missed cycles : 2).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726939 ms (missed cycles : 3). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726939 ms (missed cycles : 3).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992513 ms (missed cycles : 3). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992513 ms (missed cycles : 3).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701748 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701748 ms (missed cycles : 2).[0m ×2 + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826444 ms (missed cycles : 2). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826444 ms (missed cycles : 2).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477649 ms (missed cycles : 5). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477649 ms (missed cycles : 5).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399257 ms (missed cycles : 3). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399257 ms (missed cycles : 3).[0m ×2 + 22.58sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 23.16sWARNros2_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 ×8 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107191 ms (missed cycles : 4). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.107191 ms (missed cycles : 4).[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326626 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326626 ms (missed cycles : 2).[0m ×2 + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285704 ms (missed cycles : 2). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285704 ms (missed cycles : 2).[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607172 ms (missed cycles : 3). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607172 ms (missed cycles : 3).[0m ×2 + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405711 ms (missed cycles : 3). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405711 ms (missed cycles : 3).[0m ×2 + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511503 ms (missed cycles : 2). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511503 ms (missed cycles : 2).[0m ×2 + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014899 ms (missed cycles : 3). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014899 ms (missed cycles : 3).[0m ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049276 ms (missed cycles : 2). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049276 ms (missed cycles : 2).[0m ×2 + 32.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704619 ms (missed cycles : 2). + 32.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704619 ms (missed cycles : 2).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407012 ms (missed cycles : 3). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407012 ms (missed cycles : 3).[0m ×2 + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055322 ms (missed cycles : 4). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055322 ms (missed cycles : 4).[0m ×2 + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664237 ms (missed cycles : 5). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664237 ms (missed cycles : 5).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662412 ms (missed cycles : 3). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662412 ms (missed cycles : 3).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534906 ms (missed cycles : 4). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534906 ms (missed cycles : 4).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678579 ms (missed cycles : 2). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678579 ms (missed cycles : 2).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337474 ms (missed cycles : 3). + 39.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337474 ms (missed cycles : 3).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482127 ms (missed cycles : 2). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482127 ms (missed cycles : 2).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 2.514ms + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833868 ms (missed cycles : 2). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833868 ms (missed cycles : 2).[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131601 ms (missed cycles : 4). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131601 ms (missed cycles : 4).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3).[0m ×2 + 45.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2). + 45.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2).[0m ×2 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4).[0m ×2 + 46.52sINFOjoint_trajectory_controllerGoal reached, success! + 46.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491016.09180069 seconds ×3 + 46.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.11sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491016.67437053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4).[0m ×2 + 47.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 48.20sINFOobjective_server_nodeFound path in 0 iterations (2.6065e-05 s). ×2 + 48.26sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 48.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2).[0m ×2 + 49.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3). + 49.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	154 warnings · 183 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602657 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602657 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960720 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960720 ms (missed cycles : 3).[0m ×2 + 2.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054102 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054102 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788491085.76927924 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252412 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252412 ms (missed cycles : 2).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.76sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788491087.34815598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.32sWARNros2_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 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990840 ms (missed cycles : 4). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990840 ms (missed cycles : 4).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745332 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745332 ms (missed cycles : 2).[0m ×2 + 6.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.46sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.46sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824710 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824710 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667485 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667485 ms (missed cycles : 4).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849529 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.849529 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.951ms + 9.53sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.869ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346629 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346629 ms (missed cycles : 3).[0m ×2 + 10.14sWARNros2_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 + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.625ms + 10.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.012ms + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087262 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087262 ms (missed cycles : 2).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.961ms + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.661ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745004 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745004 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.040ms + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.655ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875859 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.875859 ms (missed cycles : 2).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.828ms + 14.28sINFOamclParticle filter update iteration stats: 3928 particles 723 points - 8.353ms + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966448 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966448 ms (missed cycles : 3).[0m ×2 + 14.83sWARNros2_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 + 14.87sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 4.648ms + 15.48sWARNros2_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 ×4 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.602ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500713 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500713 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.634ms + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.005ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348624 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.348624 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824566 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824566 ms (missed cycles : 2).[0m ×2 + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 18.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096098 ms (missed cycles : 4). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096098 ms (missed cycles : 4).[0m ×2 + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677074 ms (missed cycles : 2). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677074 ms (missed cycles : 2).[0m ×2 + 20.35sWARNros2_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 + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 20.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866498 ms (missed cycles : 2). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866498 ms (missed cycles : 2).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152217 ms (missed cycles : 3). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152217 ms (missed cycles : 3).[0m ×2 + 22.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 22.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154344 ms (missed cycles : 4). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154344 ms (missed cycles : 4).[0m ×2 + 23.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733801 ms (missed cycles : 2). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733801 ms (missed cycles : 2).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800599 ms (missed cycles : 3). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800599 ms (missed cycles : 3).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 25.97sWARNros2_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 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.973ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579428 ms (missed cycles : 2). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579428 ms (missed cycles : 2).[0m ×2 + 26.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.509ms + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147645 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147645 ms (missed cycles : 2).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 28.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268677 ms (missed cycles : 3). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268677 ms (missed cycles : 3).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.044ms + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230091 ms (missed cycles : 2). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230091 ms (missed cycles : 2).[0m ×2 + 30.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.612ms + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981063 ms (missed cycles : 3). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981063 ms (missed cycles : 3).[0m ×2 + 31.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4).[0m ×2 + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 32.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2).[0m ×2 + 33.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3).[0m ×2 + 34.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 34.87sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491118.45849037 seconds ×3 + 35.00sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 35.00sWARNlocal_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. ×4 + 35.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2).[0m ×2 + 35.40sWARNlocal_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 + 35.40sWARNlocal_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. ×7 + 35.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.41sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.45sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491119.03648400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.85sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 36.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.747ms + 36.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2).[0m ×2 + 36.54sWARNros2_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 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.3s	95 warnings · 241 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947530 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947530 ms (missed cycles : 4).[0m ×2 + 0.02sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234216 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234216 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811431 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811431 ms (missed cycles : 2).[0m ×2 + 2.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788491310.53991866 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.43sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.43sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.53sWARNlocal_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 + 2.53sWARNlocal_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 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.82sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.82sINFOobjective_server_nodecaller: ×6 + 2.82sINFOobjective_server_nodetype: 0 ×6 + 2.82sINFOobjective_server_nodename: "" ×6 + 2.82sINFOobjective_server_nodeinstance_id: "" ×6 + 2.82sINFOobjective_server_node ×6 + 2.87sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788491311.12904835 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.325ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382221 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382221 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684978 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684978 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432411 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432411 ms (missed cycles : 3).[0m ×2 + 5.33sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678439 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678439 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304514 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304514 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071829 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071829 ms (missed cycles : 2).[0m ×2 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.32sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318805 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318805 ms (missed cycles : 3).[0m ×2 + 9.59sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.98sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 10.44sINFOobjective_server_nodeFound path in 33 iterations (0.0535221 s). ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990594 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990594 ms (missed cycles : 2).[0m ×2 + 10.53sWARNros2_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 + 10.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144979 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144979 ms (missed cycles : 2).[0m ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.67sINFOobjective_server_nodeFound path in 0 iterations (5.75e-07 s). ×2 + 12.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.56sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163833 ms (missed cycles : 4). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163833 ms (missed cycles : 4).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653184 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653184 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.502ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090637 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090637 ms (missed cycles : 2).[0m ×2 + 15.66sWARNros2_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 ×4 + 15.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.809ms + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234052 ms (missed cycles : 3). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234052 ms (missed cycles : 3).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.080ms + 16.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.561ms + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.032ms + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2).[0m ×2 + 18.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491326.82377434 seconds ×3 + 19.10sWARNros2_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 + 19.11sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.11sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491327.45336342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.19sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.20sINFOmove_groupClearing octomap...[0m ×2 + 19.20sINFOmove_groupOctomap cleared.[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.594ms + 20.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491328.44358468 seconds ×3 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3).[0m ×2 + 20.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.72sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491329.01651216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491329.60664892 seconds ×3 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3).[0m ×2 + 21.58sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.6s	106 errors · 38 warnings · 515 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3).[0m ×2 + 1.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.032ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2).[0m ×2 + 1.56sINFOjoint_trajectory_controllerGoal reached, success! + 1.56sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491326.82377434 seconds ×3 + 1.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.12sWARNros2_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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.13sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.13sINFOobjective_server_nodecaller: ×4 + 2.13sINFOobjective_server_nodetype: 0 ×4 + 2.13sINFOobjective_server_nodename: "" ×4 + 2.13sINFOobjective_server_nodeinstance_id: "" ×4 + 2.13sINFOobjective_server_node ×4 + 2.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491327.45336342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.22sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.22sINFOmove_groupClearing octomap...[0m ×2 + 2.22sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.594ms + 3.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491328.44358468 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491329.01651216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.85sWARNros2_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 ×4 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491329.60664892 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3).[0m ×2 + 4.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559017 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559017 ms (missed cycles : 3).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458852 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458852 ms (missed cycles : 3).[0m ×2 + 7.18sWARNros2_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 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401921 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401921 ms (missed cycles : 3).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062300 ms (missed cycles : 4). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062300 ms (missed cycles : 4).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832493 ms (missed cycles : 3). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.832493 ms (missed cycles : 3).[0m ×2 + 10.49sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.49sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.50sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.51sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.52sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.52sERRORweb_video_auth_proxy-38process has died [pid 7799, 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 + 10.52sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.52sERRORweb_bridge_auth_proxy-37process has died [pid 7798, 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 + 10.53sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.53sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.54sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.55sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.56sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.57sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.58sINFOvideo_server-36process has finished cleanly [pid 7797] ×2 + 10.58sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.59sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.61sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.62sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.63sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.64sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.65sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.67sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.67sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.68sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.69sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.69sINFOcontroller_managerShutdown request received.... + 10.69sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.69sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.69sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.70sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.70sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.70sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.70sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.70sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.70sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.70sINFOcontroller_managerShutting down the controller manager. + 10.71sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.71sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.72sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.73sERRORmove_group-24process has died [pid 7765, 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_8kgxhe7g --params-file /tmp/launch_params_ryr3m7_d --params-file /tmp/launch_params_v5jwvh7p --params-file /tmp/launch_params_gqyqn6cc --params-file /tmp/launch_params_1_22od7o --params-file /tmp/launch_params_ka68clot']. ×2 + 10.73sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.74sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.75sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.76sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.77sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.78sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.79sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.79sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.79sINFOmap_serverDeactivating + 10.79sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.80sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.80sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.80sINFOcontroller_serverDeactivating + 10.80sINFOlocal_costmap.local_costmapDeactivating + 10.80sINFOvideo_server2026/09/04 03:08:55 INF shutting down gracefully ×2 + 10.80sINFOvideo_server2026/09/04 03:08:55 INF [WebRTC] closing ×2 + 10.80sINFOvideo_server2026/09/04 03:08:55 INF [RTSP] closing ×2 + 10.80sINFOvideo_server2026/09/04 03:08:55 INF waiting for running hooks ×2 + 10.80sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.80sINFOmap_serverCleaning up + 10.80sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.80sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.80sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.80sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.80sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.80sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.80sERRORmove_groupStack trace (most recent call last) in thread 8417: ×2 + 10.80sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.80sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcc9c96a63, in __clone ×2 + 10.80sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcc9c09aa3, in ×2 + 10.80sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcc9e9bdb3, in ×2 + 10.80sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7fbcca600a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.80sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbcca22d620, in rclcpp::Rate::sleep() ×2 + 10.80sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.80sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.80sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.80sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.81sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.81sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.81sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.81sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.81sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.81sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.81sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.81sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbcca16fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.81sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbcca131087, in ×2 + 10.81sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcc9e6a390, in __cxa_throw ×2 + 10.81sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcc9e54a54, in std::terminate() ×2 + 10.81sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcc9e6a0d9, in ×2 + 10.81sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbcc9e54ff4, in ×2 + 10.81sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcc9b958fe, in abort ×2 + 10.81sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcc9bb227d, in raise ×2 + 10.81sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbcc9c0bb2c, in pthread_kill ×2 + 10.81sERRORmove_groupAborted (Signal sent by tkill() 7765 0) ×2 + 10.81sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.81sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.81sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.81sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.81sINFOodom_qos_relay.pymain() ×2 + 10.81sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.81sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.81sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.81sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.81sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.81sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.81sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.81sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.81sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.81sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.85sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.86sINFOcontroller_serverCleaning up + 10.86sINFOlocal_costmap.local_costmapCleaning up + 10.89sERRORamclThe bond connection to the lifecycle manager has been broken + 10.90sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.90sINFOsmoother_serverDeactivating + 10.90sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.91sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.91sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.91sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.91sINFOsmoother_serverCleaning up + 10.93sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.93sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.93sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.93sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.93sINFOvelocity_smootherDeactivating + 10.93sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.93sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.93sINFOplanner_serverDeactivating + 10.93sINFOglobal_costmap.global_costmapDeactivating + 11.04sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 11.05sINFOwaypoint_followerDeactivating + 11.05sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.07sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.07sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.08sINFOplanner_serverCleaning up + 11.09sINFOglobal_costmap.global_costmapCleaning up + 11.10sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.10sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.14sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.14sINFObehavior_serverDeactivating + 11.14sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.15sINFObehavior_serverCleaning up + 11.15sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.15sINFObt_navigatorDeactivating + 11.15sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.16sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.16sERRORbt_navigatorUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.16sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator ×2 + 11.16sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.16sINFObt_navigatorCleaning up + 11.21sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.22sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.22sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.22sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.22sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.22sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.22sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.22sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.22sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.22sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.22sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.22sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.22sINFOvelocity_smootherCleaning up + 11.23sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.23sINFOwaypoint_followerCleaning up + 11.25sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.27sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.27sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.27sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.28sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.28sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.28sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.28sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.32sINFObt_navigatorCompleted Cleaning up + 11.32sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.32sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.32sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.62sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7796] ×2 + 11.62sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.66sERRORcomponent_container_isolated-1process has died [pid 7620, 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_zfizy0uh --params-file /tmp/launch_params_ijyc7yoq -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.69sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7787] ×2 + 11.70sINFOui_teleop_bridge-33process has finished cleanly [pid 7792] ×2 + 11.70sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7786] ×2 + 11.71sINFOexecute_objective_bridge-32process has finished cleanly [pid 7791] ×2 + 11.73sINFOcomponent_container_mt-31process has finished cleanly [pid 7790] ×2 + 11.74sINFOparameter_manager_node-25process has finished cleanly [pid 7775] ×2 + 11.76sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7728] ×2 + 11.76sINFOwaypoint_manager_node-26process has finished cleanly [pid 7785] ×2 + 11.76sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7727] ×2 + 11.77sINFOstatic_transform_publisher-9process has finished cleanly [pid 7628] ×2 + 11.78sINFOstatic_transform_publisher-8process has finished cleanly [pid 7627] ×2 + 11.79sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.79sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 11.79sINFOlidar_flattener.pymain() ×2 + 11.79sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 11.79sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.79sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.79sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.79sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.79sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.79sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.79sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.79sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.79sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.79sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.81sINFOobjective_server_node[2026-09-04 03:08:57.046] [moveit_pro_license] [critical] ×2 + 11.81sINFOobjective_server_node************************************************* ×4 + 11.81sINFOobjective_server_node* MoveIt Pro License ×2 + 11.81sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.81sINFOstatic_transform_publisher-4process has finished cleanly [pid 7623] ×2 + 11.83sINFOstatic_transform_publisher-3process has finished cleanly [pid 7622] ×2 + 11.84sERRORlidar_flattener.py-7process has died [pid 7626, 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_d36om505']. ×2 + 11.87sERRORodom_qos_relay.py-5process has died [pid 7624, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 11.87sINFOobjective_server_node_main-29process has finished cleanly [pid 7788] ×2 + 11.87sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.87sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7625] ×2 + 12.20sERRORcomponent_container_isolated-2process has died [pid 7621, 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_zfizy0uh --params-file /tmp/launch_params_qjgz1nl0 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.83sINFOcomponent_container_mt-30process has finished cleanly [pid 7789] ×2 + 13.44sINFOros2_control_node-12process has finished cleanly [pid 7729] ×2 + 13.70sINFOweb_bridge-34process has finished cleanly [pid 7795] ×2 + 13.70sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 90 warnings · 155 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the 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 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289791 ms (missed cycles : 6). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.289791 ms (missed cycles : 6).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.630ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448407 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448407 ms (missed cycles : 4).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761574 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761574 ms (missed cycles : 3).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.785ms + 3.04sINFOjoint_trajectory_controllerGoal reached, success! + 3.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788491171.34661865 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531109 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531109 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.62sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.62sINFOobjective_server_nodecaller: ×4 + 3.62sINFOobjective_server_nodetype: 0 ×4 + 3.62sINFOobjective_server_nodename: "" ×4 + 3.62sINFOobjective_server_nodeinstance_id: "" ×4 + 3.62sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788491171.92998958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.898ms + 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082187 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082187 ms (missed cycles : 3).[0m ×2 + 5.41sWARNros2_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 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895178 ms (missed cycles : 4). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895178 ms (missed cycles : 4).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733495 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733495 ms (missed cycles : 3).[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084379 ms (missed cycles : 3). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084379 ms (missed cycles : 3).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.128ms + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545914 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545914 ms (missed cycles : 3).[0m ×2 + 9.48sWARNros2_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 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.088ms + 10.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.943ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652898 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652898 ms (missed cycles : 3).[0m ×2 + 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 ×2 + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.678ms + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544035 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544035 ms (missed cycles : 3).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.539ms + 11.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.650ms + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339716 ms (missed cycles : 4). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339716 ms (missed cycles : 4).[0m ×2 + 12.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.469ms + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202390 ms (missed cycles : 4). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202390 ms (missed cycles : 4).[0m ×2 + 13.62sINFOamclParticle filter update iteration stats: 3440 particles 723 points - 7.052ms + 13.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.81sINFOjoint_trajectory_controllerGot request to cancel goal + 13.81sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.82sERRORobjective_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: 1788491182.09134841 seconds ×3 + 13.92sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 13.92sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.73) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 14.22sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 5.062ms + 14.22sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.22sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 14.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788491182.67418766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011807 ms (missed cycles : 3). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011807 ms (missed cycles : 3).[0m ×2 + 14.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 14.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.500ms + 15.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264327 ms (missed cycles : 2). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264327 ms (missed cycles : 2).[0m ×2 + 15.87sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257467 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257467 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	73 warnings · 143 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_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 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491079.41287947 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.35sWARNlocal_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. ×6 + 2.35sWARNlocal_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. ×6 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.83sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.83sINFOobjective_server_nodename: "" ×4 + 2.83sINFOobjective_server_nodeinstance_id: "" ×4 + 2.83sINFOobjective_server_node ×4 + 2.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491079.99913836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 9.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 9.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.912ms + 3.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602657 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602657 ms (missed cycles : 2).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960720 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960720 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054102 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054102 ms (missed cycles : 2).[0m ×2 + 8.64sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788491085.76927924 seconds ×3 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252412 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252412 ms (missed cycles : 2).[0m ×2 + 10.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.18sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.21sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788491087.34815598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.62sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 10.78sWARNros2_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 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990840 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990840 ms (missed cycles : 4).[0m ×2 + 11.35sWARNros2_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 + 11.89sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745332 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745332 ms (missed cycles : 2).[0m ×2 + 12.87sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824710 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824710 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	66 warnings · 138 info
+ 0.00sWARNros2_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 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795922 ms (missed cycles : 6). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795922 ms (missed cycles : 6).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134188 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134188 ms (missed cycles : 2).[0m ×2 + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.662ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426344 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426344 ms (missed cycles : 4).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788491246.70452142 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.30) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.13) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720169 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720169 ms (missed cycles : 2).[0m ×2 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.37) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.78sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.78sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.78sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.78sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.78sINFOobjective_server_nodecaller: ×4 + 3.78sINFOobjective_server_nodetype: 0 ×4 + 3.79sINFOobjective_server_nodename: "" ×4 + 3.79sINFOobjective_server_nodeinstance_id: "" ×4 + 3.79sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788491247.27864671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.29sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.29sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.535ms + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679460 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679460 ms (missed cycles : 5).[0m ×2 + 5.38sWARNros2_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 ×4 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760160 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760160 ms (missed cycles : 5).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 9.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.69sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 10.24sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.24sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.69sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 12.99sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	48 warnings · 144 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491016.09180069 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491016.67437053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4).[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.6065e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2).[0m ×2 + 5.02sWARNros2_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 + 5.60sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3).[0m ×2 + 6.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325430 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325430 ms (missed cycles : 2).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 7.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403824 ms (missed cycles : 5). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403824 ms (missed cycles : 5).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 8.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788491022.16687965 seconds ×3 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700295 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700295 ms (missed cycles : 2).[0m ×2 + 9.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.52sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788491022.74274421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.58sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.546ms + 9.94sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736554 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736554 ms (missed cycles : 2).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441266 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441266 ms (missed cycles : 3).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3).[0m ×2 + 12.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.6s	30 warnings · 119 info
+ 0.00sWARNros2_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 ×4 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.809ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234052 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234052 ms (missed cycles : 3).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.080ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.561ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.032ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491326.82377434 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.44sWARNros2_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 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491327.45336342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2).[0m ×2 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.594ms + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491328.44358468 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491329.01651216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491329.60664892 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3).[0m ×2 + 5.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559017 ms (missed cycles : 3). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559017 ms (missed cycles : 3).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458852 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458852 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 307 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.42sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.42sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.42sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.43sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.43sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.44sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.44sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.95sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.95sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.95sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.95sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.95sINFOobjective_server_nodecaller: ×10 + 0.95sINFOobjective_server_nodetype: 0 ×10 + 0.95sINFOobjective_server_nodename: "" ×10 + 0.95sINFOobjective_server_nodeinstance_id: "" ×10 + 0.95sINFOobjective_server_node ×10 + 0.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.99sINFOmove_groupClearing octomap...[0m ×2 + 0.99sINFOmove_groupOctomap cleared.[0m ×2 + 1.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.54sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 1.97sWARNros2_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 + 2.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 2.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_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 + 2.93sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.51sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762126 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762126 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	26 warnings · 70 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491016.09180069 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491016.67437053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4).[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.6065e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2).[0m ×2 + 5.02sWARNros2_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 + 5.60sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	26 warnings · 70 info
+ 0.00sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485812 ms (missed cycles : 3).[0m ×2 + 0.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829770 ms (missed cycles : 2).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434057 ms (missed cycles : 4).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491016.09180069 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.49sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491016.67437053 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659288 ms (missed cycles : 4).[0m ×2 + 3.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.6065e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736976 ms (missed cycles : 2).[0m ×2 + 5.02sWARNros2_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 + 5.60sWARNros2_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 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.16sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 4.73sWARNros2_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 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	25 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469940 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.648ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325430 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325430 ms (missed cycles : 2).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 2.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403824 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.403824 ms (missed cycles : 5).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.243ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788491022.16687965 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700295 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700295 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788491022.74274421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 2.546ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736554 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736554 ms (missed cycles : 2).[0m ×2 + 4.28sWARNros2_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 + 4.86sWARNros2_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 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441266 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441266 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716639 ms (missed cycles : 3).[0m ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.34sINFOjoint_trajectory_controllerReceived new action goal + 6.34sINFOjoint_trajectory_controllerAccepted new action goal + 6.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.35sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	46 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_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 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491079.41287947 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_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. ×6 + 2.35sWARNlocal_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. ×6 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491079.99913836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 9.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 9.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.912ms + 3.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_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
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	46 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_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 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491079.41287947 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_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. ×6 + 2.35sWARNlocal_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. ×6 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491079.99913836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 9.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 9.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.912ms + 3.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_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
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	46 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_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 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491079.41287947 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_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. ×6 + 2.35sWARNlocal_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. ×6 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491079.99913836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 9.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 9.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.912ms + 3.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_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
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	46 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_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 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491079.41287947 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_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. ×6 + 2.35sWARNlocal_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. ×6 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491079.99913836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 9.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 9.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.912ms + 3.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_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
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	46 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287028 ms (missed cycles : 3).[0m ×2 + 0.42sWARNros2_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 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761443 ms (missed cycles : 3).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.636ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865443 ms (missed cycles : 2).[0m ×2 + 2.23sINFOjoint_trajectory_controllerGoal reached, success! + 2.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491079.41287947 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.35sWARNlocal_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. ×6 + 2.35sWARNlocal_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. ×6 + 2.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.83sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.83sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 2.83sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.83sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.83sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.87sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491079.99913836 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.892ms + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-2.14, 9.66) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-3.04, 9.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947134 ms (missed cycles : 5).[0m ×2 + 3.24sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.912ms + 3.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.58sINFOjoint_trajectory_controllerReceived new action goal + 3.58sINFOjoint_trajectory_controllerAccepted new action goal + 3.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265748 ms (missed cycles : 2).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676411 ms (missed cycles : 2).[0m ×2 + 5.67sWARNros2_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
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	43 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3).[0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491118.45849037 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.31sWARNlocal_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. ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2).[0m ×2 + 3.71sWARNlocal_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 + 3.71sWARNlocal_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. ×7 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491119.03648400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.747ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.88sWARNros2_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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	43 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3).[0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491118.45849037 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.31sWARNlocal_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. ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2).[0m ×2 + 3.71sWARNlocal_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 + 3.71sWARNlocal_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. ×7 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491119.03648400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.747ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.88sWARNros2_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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	43 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.095ms + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058298 ms (missed cycles : 4).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.615ms + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.873ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367580 ms (missed cycles : 2).[0m ×2 + 1.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580208 ms (missed cycles : 3).[0m ×2 + 3.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 3.15sINFOjoint_trajectory_controllerGoal reached, success! + 3.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491118.45849037 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.31sWARNlocal_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. ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030683 ms (missed cycles : 2).[0m ×2 + 3.71sWARNlocal_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 + 3.71sWARNlocal_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. ×7 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.73sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.73sINFOobjective_server_nodecaller: ×2 + 3.73sINFOobjective_server_nodetype: 0 ×2 + 3.73sINFOobjective_server_nodename: "" ×2 + 3.73sINFOobjective_server_nodeinstance_id: "" ×2 + 3.73sINFOobjective_server_node ×2 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491119.03648400 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.747ms + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039086 ms (missed cycles : 2).[0m ×2 + 4.85sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.88sWARNros2_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 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850141 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.54sINFOjoint_trajectory_controllerReceived new action goal + 6.54sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.54sINFOjoint_trajectory_controllerAccepted new action goal + 6.54sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.16sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 4.73sWARNros2_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 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.16sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 4.73sWARNros2_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 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498354 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960500 ms (missed cycles : 2).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052756 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491253.14878368 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502480 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491253.73976922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sWARNros2_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 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813481 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540668 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.33sINFOjoint_trajectory_controllerReceived new action goal + 6.33sINFOjoint_trajectory_controllerAccepted new action goal + 6.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.33sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	24 warnings · 119 info
+ 0.00sWARNros2_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 ×4 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.809ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234052 ms (missed cycles : 3). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234052 ms (missed cycles : 3).[0m ×2 + 0.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.080ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.561ms + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967549 ms (missed cycles : 3).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.032ms + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235703 ms (missed cycles : 2).[0m ×2 + 2.87sINFOjoint_trajectory_controllerGoal reached, success! + 2.87sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491326.82377434 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.44sWARNros2_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 + 3.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.44sINFOobjective_server_nodecaller: ×4 + 3.44sINFOobjective_server_nodetype: 0 ×4 + 3.44sINFOobjective_server_nodename: "" ×4 + 3.44sINFOobjective_server_nodeinstance_id: "" ×4 + 3.44sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491327.45336342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829118 ms (missed cycles : 2).[0m ×2 + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.594ms + 4.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491328.44358468 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355070 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.06sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491329.01651216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491329.60664892 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483217 ms (missed cycles : 3).[0m ×2 + 5.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 0.66sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.12sINFOobjective_server_nodecaller: ×10 + 2.12sINFOobjective_server_nodetype: 0 ×10 + 2.12sINFOobjective_server_nodename: "" ×10 + 2.12sINFOobjective_server_nodeinstance_id: "" ×10 + 2.12sINFOobjective_server_node ×10 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 3.14sWARNros2_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 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 303 info
+ 0.00sWARNros2_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 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.46sINFOobjective_server_nodecaller: ×10 + 3.46sINFOobjective_server_nodetype: 0 ×10 + 3.46sINFOobjective_server_nodename: "" ×10 + 3.46sINFOobjective_server_nodeinstance_id: "" ×10 + 3.46sINFOobjective_server_node ×10 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.50sINFOmove_groupClearing octomap...[0m ×2 + 3.50sINFOmove_groupOctomap cleared.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.48sWARNros2_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 + 4.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 5.05sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 7.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.16sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 4.73sWARNros2_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 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.10sINFOjoint_trajectory_controllerReceived new action goal + 7.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOjoint_trajectory_controllerAccepted new action goal + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	24 warnings · 300 info
+ 0.00sWARNros2_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 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 2.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.46sINFOobjective_server_nodecaller: ×10 + 3.46sINFOobjective_server_nodetype: 0 ×10 + 3.46sINFOobjective_server_nodename: "" ×10 + 3.46sINFOobjective_server_nodeinstance_id: "" ×10 + 3.46sINFOobjective_server_node ×10 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.50sINFOmove_groupClearing octomap...[0m ×2 + 3.50sINFOmove_groupOctomap cleared.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.48sWARNros2_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 + 4.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.63sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 5.05sWARNros2_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 + 5.39sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.39sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 6.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.16sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 4.73sWARNros2_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 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.16sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 4.73sWARNros2_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 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	25 warnings · 303 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320964 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 2.61sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.61sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.61sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.14sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.14sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.14sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.14sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.14sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.14sINFOobjective_server_nodecaller: ×10 + 3.14sINFOobjective_server_nodetype: 0 ×10 + 3.14sINFOobjective_server_nodename: "" ×10 + 3.14sINFOobjective_server_nodeinstance_id: "" ×10 + 3.14sINFOobjective_server_node ×10 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.18sINFOmove_groupClearing octomap...[0m ×2 + 3.18sINFOmove_groupOctomap cleared.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.73sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 4.16sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 4.73sWARNros2_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 + 5.07sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.70sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_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 3.446569 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446569 ms (missed cycles : 3).[0m ×2 + 0.66sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 1.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.58sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.60sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.60sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.12sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.12sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.12sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.12sINFOobjective_server_nodecaller: ×10 + 2.12sINFOobjective_server_nodetype: 0 ×10 + 2.12sINFOobjective_server_nodename: "" ×10 + 2.12sINFOobjective_server_nodeinstance_id: "" ×10 + 2.12sINFOobjective_server_node ×10 + 2.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.16sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.16sINFOmove_groupClearing octomap...[0m ×2 + 2.16sINFOmove_groupOctomap cleared.[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.74sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 3.14sWARNros2_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 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.07sINFOjoint_trajectory_controllerReceived new action goal + 6.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.08sINFOjoint_trajectory_controllerAccepted new action goal + 6.08sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762126 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762126 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714009 ms (missed cycles : 3).[0m ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.93sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.46sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.46sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.46sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.46sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.46sINFOobjective_server_nodecaller: ×10 + 1.46sINFOobjective_server_nodetype: 0 ×10 + 1.46sINFOobjective_server_nodename: "" ×10 + 1.46sINFOobjective_server_nodeinstance_id: "" ×10 + 1.46sINFOobjective_server_node ×10 + 1.50sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788490970.51125264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.50sINFOmove_groupClearing octomap...[0m ×2 + 1.50sINFOmove_groupOctomap cleared.[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788490970.52152681 seconds ×3 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169326 ms (missed cycles : 2).[0m ×2 + 2.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.05sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788490971.09509492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788490971.10521245 seconds ×3 + 2.48sWARNros2_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 + 2.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3). + 2.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.404383 ms (missed cycles : 3).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788490971.69775009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788490971.84835601 seconds ×3 + 3.05sWARNros2_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 + 3.40sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.40sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788490972.44323254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788490972.50336814 seconds ×3 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424102 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.02sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788490973.07194543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790270 ms (missed cycles : 2).[0m ×2 + 5.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493931 ms (missed cycles : 3).[0m ×2