73
Total objective tests
18
Objectives passed
0
Objectives failed
55
Objectives skipped
21.5s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 20.6s | 12 errors · 321 warnings · 1528 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/2026-09-04-03-09-21-933306-e0e005e579ea-7587 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.30sINFOstatic_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' + 4.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.31sINFOstatic_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' + 4.32sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.32sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.32sINFOstatic_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' + 4.33sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.33sINFOstatic_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' + 4.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.40sINFOmap_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. + 4.40sINFOmap_serverCreating + 4.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.41sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.41sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.44sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.44sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.44sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.46sINFOlifecycle_manager_localizationCreating + 4.47sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.48sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.48sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.48sINFOmap_serverConfiguring + 4.58sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.58sINFOamclConfiguring + 4.58sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.58sINFOmap_serverActivating + 4.59sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.66sINFOros2_control_node-12process started with pid [7735] ×2 + 4.66sINFOmove_group-24process started with pid [7752] ×2 + 4.66sINFOparameter_manager_node-25process started with pid [7799] ×2 + 4.66sINFOwaypoint_manager_node-26process started with pid [7800] ×2 + 4.66sINFOmove_joint_resampler_node-27process started with pid [7801] ×2 + 4.66sINFOmove_end_effector_resampler_node-28process started with pid [7802] ×2 + 4.66sINFOobjective_server_node_main-29process started with pid [7803] ×2 + 4.66sINFOcomponent_container_mt-30process started with pid [7804] ×2 + 4.66sINFOcomponent_container_mt-31process started with pid [7805] ×2 + 4.66sINFOexecute_objective_bridge-32process started with pid [7806] ×2 + 4.66sINFOui_teleop_bridge-33process started with pid [7809] ×2 + 4.66sINFOweb_bridge-34process started with pid [7814] ×2 + 4.66sINFOtf2_web_republisher_node-35process started with pid [7815] ×2 + 4.66sINFOvideo_server-36process started with pid [7820] ×2 + 4.66sINFOweb_bridge_auth_proxy-37process started with pid [7821] ×2 + 4.66sINFOweb_video_auth_proxy-38process started with pid [7822] ×2 + 4.67sINFOcomponent_container_isolated-1process started with pid [7637] ×2 + 4.67sINFOcomponent_container_isolated-2process started with pid [7638] ×2 + 4.67sINFOstatic_transform_publisher-3process started with pid [7639] ×2 + 4.67sINFOstatic_transform_publisher-4process started with pid [7640] ×2 + 4.68sINFOcontroller_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. + 4.69sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.69sINFOodom_qos_relay.py-5process started with pid [7641] ×2 + 4.69sINFOforward_stereo_publisher.py-6process started with pid [7642] ×2 + 4.69sINFOlidar_flattener.py-7process started with pid [7643] ×2 + 4.70sINFOstatic_transform_publisher-8process started with pid [7644] ×2 + 4.70sINFOstatic_transform_publisher-9process started with pid [7645] ×2 + 4.70sINFOscan_to_scan_filter_chain-10process started with pid [7733] ×2 + 4.70sINFOscan_to_scan_filter_chain-11process started with pid [7734] ×2 + 4.70sINFOros2-13process started with pid [7736] ×2 + 4.70sINFOros2-14process started with pid [7737] ×2 + 4.70sINFOros2-15process started with pid [7738] ×2 + 4.70sINFOros2-16process started with pid [7739] ×2 + 4.70sINFOros2-17process started with pid [7740] ×2 + 4.70sINFOros2-18process started with pid [7741] ×2 + 4.70sINFOros2-19process started with pid [7742] ×2 + 4.70sINFOros2-20process started with pid [7743] ×2 + 4.70sINFOros2-21process started with pid [7744] ×2 + 4.70sINFOros2-22process started with pid [7746] ×2 + 4.70sINFOros2-23process started with pid [7749] ×2 + 4.70sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.70sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.70sINFOamclActivating + 4.70sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.70sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.71sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.71sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.71sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.71sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.71sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.71sINFOamclSubscribed to map_topic: /map + 4.71sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.71sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.71sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.71sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.71sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.71sINFOstatic_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 + 4.72sINFOamclSubscribed to scan_topic: /scan_merged + 4.72sINFOcontroller_managerupdate rate is 600 Hz + 4.72sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.72sINFOcontroller_managerOverruns handling is : enabled + 4.72sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.72sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.72sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.73sWARNcontroller_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. + 4.73sINFOamclCreated reinitialize_global_localization service + 4.73sINFOamclCreated request_nomotion_update service + 4.73sINFOamclA new map was received + 4.73sINFOamclInitializing particle filter instance + 4.74sWARNros2_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 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235277 ms (missed cycles : 3). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235277 ms (missed cycles : 3).[0m ×2 + 4.83sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.83sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.84sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.85sINFOcontroller_serverCreating controller server + 4.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.90sINFOlocal_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. + 4.91sINFOlocal_costmap.local_costmapCreating Costmap + 4.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.98sINFOrobot_state_publisherRobot initialized + 4.98sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.98sINFOsmoother_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. + 4.98sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.98sINFOcontroller_managerReceived robot description from topic. + 4.98sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.99sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.99sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.99sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.00sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.00sINFOsmoother_serverCreating smoother server + 5.00sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.03sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.04sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.05sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.05sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.05sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.05sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.05sINFOplanner_serverCreating + 5.06sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.07sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.10sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.11sINFOglobal_costmap.global_costmapCreating Costmap + 5.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.16sINFObehavior_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. + 5.18sINFOvideo_server2026/09/04 03:09:28 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.18sINFOvideo_server2026/09/04 03:09:28 INF configuration loaded from /tmp/moveit-webrtc-xc0zwnyf/mediamtx.yml ×2 + 5.19sINFOvideo_server2026/09/04 03:09:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.19sINFOvideo_server2026/09/04 03:09:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.20sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.27sINFObt_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. + 5.29sINFObt_navigatorCreating + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.36sINFOwaypoint_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. + 5.37sINFOwaypoint_followerCreating + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.47sWARNlaser_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. + 5.47sWARNscan_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 + 5.48sINFOvelocity_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. + 5.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 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. + 5.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.55sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.56sINFOlifecycle_manager_navigationCreating + 5.57sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×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 + 5.61sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.63sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.66sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.66sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.67sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.70sINFOamclParticle filter initialization completed + 5.71sINFOamclInitializing particles from estimated pose and covariance + 5.71sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.73sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.74sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.74sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.74sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.75sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.77sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.79sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.79sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724768 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724768 ms (missed cycles : 2).[0m ×2 + 5.79sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.79sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.80sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.80sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.80sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.80sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.81sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.81sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.81sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.81sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.81sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.82sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.82sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.82sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.83sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.83sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.83sINFOcontroller_serverOptimizer reset ×2 + 5.85sINFOcontroller_serverController Server has FollowPath controllers available. + 5.87sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.87sINFOsmoother_serverConfiguring smoother server + 5.89sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.89sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.90sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.90sINFOplanner_serverConfiguring + 5.90sINFOglobal_costmap.global_costmapConfiguring + 5.90sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.90sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.90sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.90sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.91sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.94sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.684237 seconds + 5.94sINFOmove_groupLoaded robot model in 0.684237 seconds[0m ×2 + 5.94sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.94sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.94sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.94sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.95sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.95sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.95sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.95sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.96sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.02sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.02sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.02sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.02sINFOplanner_serverPlanner Server has GridBased planners available. + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.04sINFObehavior_serverConfiguring + 6.05sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.05sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.05sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.06sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.06sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.06sINFObehavior_serverConfiguring spin + 6.07sINFObehavior_serverConfiguring backup + 6.08sINFObehavior_serverConfiguring drive_on_heading + 6.08sINFObehavior_serverConfiguring assisted_teleop + 6.09sINFObehavior_serverConfiguring wait + 6.10sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.10sINFObt_navigatorConfiguring + 6.10sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.11sWARNbt_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 + 6.23sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.27sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.27sINFOwaypoint_followerConfiguring + 6.29sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.29sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.29sINFOvelocity_smootherConfiguring velocity smoother + 6.30sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.30sINFOcontroller_serverActivating + 6.30sINFOlocal_costmap.local_costmapActivating + 6.30sINFOlocal_costmap.local_costmapChecking transform + 6.30sINFOlocal_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. ×12 + 6.38sINFOwaypoint_manager_nodeLoaded robot model in 0.359697 seconds[0m ×2 + 6.38sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.38sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.39sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.39sWARNmove_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. + 6.39sWARNmove_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. + 6.39sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.39sWARNmove_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. + 6.39sWARNmove_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. + 6.39sWARNmove_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. + 6.39sWARNmove_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. + 6.39sWARNmove_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 + 6.39sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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. + 6.40sWARNmove_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 + 6.40sWARNmove_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. + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.40sWARNmove_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. + 6.40sWARNmove_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. + 6.40sWARNmove_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 + 6.40sWARNmove_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 + 6.54sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.54sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.54sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.55sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.57sINFOros2_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 + 6.57sINFOros2_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 + 6.62sINFOmove_group[2026-09-04 03:09:30.284] [moveit_pro_license] [info] ×2 + 6.62sINFOmove_group************************************************* ×4 + 6.62sINFOmove_group* MoveIt Pro License ×2 + 6.62sINFOmove_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.81sWARNwaypoint_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. + 6.81sWARNwaypoint_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 + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.82sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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 + 6.82sWARNwaypoint_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. + 6.82sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686850 ms (missed cycles : 5). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.686850 ms (missed cycles : 5).[0m ×2 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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. + 6.83sWARNwaypoint_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 + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.84sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.84sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.85sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 6.86sWARNwaypoint_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. + 6.86sWARNwaypoint_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 + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.09sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.09sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.09sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.09sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.09sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.10sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.10sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.10sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.10sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.10sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.10sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.10sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.11sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.20sINFOwaypoint_manager_node[2026-09-04 03:09:30.855] [moveit_pro_license] [info] ×2 + 7.20sINFOwaypoint_manager_node************************************************* ×4 + 7.20sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.20sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.41sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.42sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.42sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.42sWARNros2_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 + 7.42sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.42sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.42sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.42sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.42sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.42sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.42sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.42sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.42sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.42sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.42sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.42sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.42sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.42sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.42sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.42sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.42sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.42sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.42sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.42sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.42sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.42sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.46sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.46sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.46sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.46sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.47sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 7.47sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 7.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.55sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 7.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.55sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 7.55sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 7.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.55sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 7.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.55sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 7.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.62sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.62sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.62sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.66sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.68sINFOros2_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 + 7.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.68sWARNros2_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 + 7.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.69sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.69sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.86sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.86sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.86sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.87sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 7.87sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 7.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.90sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.92sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 7.92sINFOros2-19process has finished cleanly [pid 7742] ×2 + 7.94sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.94sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.95sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.96sINFOplatform_velocity_controller_nav2configure successful + 7.96sINFOros2_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> + 8.01sINFOmoveit_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_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> + 8.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[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 + 8.04sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.12sINFOobjective_server_node[2026-09-04 03:09:31.782] [moveit_pro_license] [info] ×2 + 8.12sINFOobjective_server_node************************************************* ×4 + 8.12sINFOobjective_server_node* MoveIt Pro License ×2 + 8.12sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246510 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246510 ms (missed cycles : 2).[0m ×2 + 8.19sINFOobjective_server_nodeLoaded robot model in 0.0244884 seconds[0m ×2 + 8.19sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.19sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.23sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.23sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.26sINFOstreaming_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) + 8.26sINFOcomponent_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 + 8.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.28sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.28sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.29sINFOcomponent_container_mtLoaded robot model in 0.366365 seconds[0m ×2 + 8.29sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.29sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.31sINFOros2-18process has finished cleanly [pid 7741] ×2 + 8.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 8.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 8.50sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.50sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.50sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.51sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 8.73sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.73sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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. + 8.73sWARNobjective_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 + 8.73sWARNobjective_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 + 8.80sINFOobjective_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 + 8.80sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.81sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.81sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.82sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.83sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.83sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.83sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.89sINFOmove_groupMoveGroup debug mode is ON + 8.89sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.89sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.96sINFOros2_control_node[2026-09-04 03:09:32.622] [info] Controller state will be published at 20 Hz. ×2 + 8.96sINFOros2_control_node[2026-09-04 03:09:32.623] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.99sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.05sINFOmove_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
********************************************************
+ 9.05sINFOmove_group ×8 + 9.05sINFOmove_group******************************************************** ×4 + 9.05sINFOmove_group* MoveGroup using: ×2 + 9.05sINFOmove_group* - apply_planning_scene_service ×2 + 9.05sINFOmove_group* - clear_octomap_service ×2 + 9.05sINFOmove_group* - get_group_urdf ×2 + 9.05sINFOmove_group* - load_geometry_from_file ×2 + 9.05sINFOmove_group* - get_planning_scene_service ×2 + 9.05sINFOmove_group* - kinematics_service ×2 + 9.05sINFOmove_group* - save_geometry_to_file ×2 + 9.05sINFOmove_group* - GetPlanningGroups ×2 + 9.05sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.05sINFOmove_group[0m ×2 + 9.05sINFOmove_group[92mYou can start planning now![0m ×2 + 9.07sINFOcomponent_container_mt[2026-09-04 03:09:32.735] [moveit_pro_license] [info] ×2 + 9.08sINFOcomponent_container_mt************************************************* ×4 + 9.08sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.18sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.18sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055211 ms (missed cycles : 2). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055211 ms (missed cycles : 2).[0m ×2 + 9.30sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.30sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 9.30sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.30sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 9.30sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 9.30sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 9.31sINFOros2-22process has finished cleanly [pid 7746] ×2 + 9.35sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.35sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.35sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.35sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.43sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.43sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.54sWARNros2_control_nodeCamera render tick took 1.06 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.57sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.57sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.58sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.58sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.83sINFOros2_control_node[2026-09-04 03:09:33.490] [info] Controller state will be published at 20 Hz. ×2 + 9.83sINFOros2_control_node[2026-09-04 03:09:33.491] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.16sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.16sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.16sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.16sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.17sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 10.17sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 10.17sINFOros2-23process has finished cleanly [pid 7749] ×2 + 10.18sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.19sWARNros2_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 + 10.21sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.21sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.22sINFOcontroller_managerSuccessfully switched controllers! ×20 + 10.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 10.22sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.22sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953780 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953780 ms (missed cycles : 3).[0m ×2 + 10.51sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.51sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.51sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.55sINFOros2-17process has finished cleanly [pid 7740] ×2 + 10.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 10.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 10.60sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788491372.145 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.65sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.65sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.02sWARNobjective_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 + 11.04sINFOros2_control_node[2026-09-04 03:09:34.699] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.04sINFOros2_control_node[2026-09-04 03:09:34.701] [info] Controller state will be published at 10 Hz. ×2 + 11.04sINFOros2_control_node[2026-09-04 03:09:34.702] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.07sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 11.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 11.39sINFOros2-20process has finished cleanly [pid 7743] ×2 + 11.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 11.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.43sINFOforce_torque_sensor_broadcasterconfigure successful + 11.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 11.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556135 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556135 ms (missed cycles : 3).[0m ×2 + 11.73sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.73sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.73sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.73sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.73sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 11.73sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 11.76sINFOros2-13process has finished cleanly [pid 7736] ×2 + 11.78sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 11.78sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 11.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.79sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.80sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.80sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.80sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 11.80sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 12.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 12.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 12.17sINFOros2-14process has finished cleanly [pid 7737] ×2 + 12.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.19sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.19sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.20sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.20sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.30sINFOlocal_costmap.local_costmapstart + 12.40sWARNcontroller_serverParameter controller_server.verbose not found + 12.40sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.50sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.50sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.50sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.50sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 12.50sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.50sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 12.51sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.51sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.51sINFOsmoother_serverActivating + 12.51sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.55sINFOros2-15process has finished cleanly [pid 7738] ×2 + 12.56sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 12.56sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 12.56sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.56sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856980 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856980 ms (missed cycles : 2).[0m ×2 + 12.61sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.61sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.62sINFOplanner_serverActivating + 12.62sINFOglobal_costmap.global_costmapActivating + 12.62sINFOglobal_costmap.global_costmapChecking transform + 12.62sINFOglobal_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. ×2 + 12.92sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788491375.642 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.21sINFOamclParticle filter update iteration stats: 2061 particles 723 points - 7.787ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037454 ms (missed cycles : 4). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.037454 ms (missed cycles : 4).[0m ×2 + 13.62sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788491377.237531, but only time 1788491377.289842 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.63sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788491375.642 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.68sINFOros2_control_node[2026-09-04 03:09:37.339] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.68sINFOros2_control_node[2026-09-04 03:09:37.340] [info] Controller state will be published at 10 Hz. ×2 + 13.68sINFOros2_control_node[2026-09-04 03:09:37.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 + 14.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rpg75cma --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_oionygaa --params-file /tmp/launch_params_222y5ed9 [0m ×2 + 14.03sINFOros2-21process has finished cleanly [pid 7744] ×2 + 14.06sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 14.06sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 14.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 14.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 14.07sINFOplatform_velocity_controllerconfigure successful + 14.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 14.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 14.08sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 14.08sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 14.12sINFOglobal_costmap.global_costmapstart + 14.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 14.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 14.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 14.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 14.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 14.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 14.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.29sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 14.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 14.39sINFOros2-16process has finished cleanly [pid 7739] ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023009 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023009 ms (missed cycles : 3).[0m ×2 + 14.91sWARNros2_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 + 15.17sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.17sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.27sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.27sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.27sINFObehavior_serverActivating + 15.27sINFObehavior_serverActivating spin + 15.27sINFObehavior_serverActivating backup + 15.28sINFObehavior_serverActivating drive_on_heading + 15.28sINFObehavior_serverActivating assisted_teleop + 15.28sINFObehavior_serverActivating wait + 15.28sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.38sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.38sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.38sINFObt_navigatorActivating + 15.43sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.52sWARNros2_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 + 15.54sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.54sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.54sINFOwaypoint_followerActivating + 15.54sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.64sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.64sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.64sINFOvelocity_smootherActivating + 15.64sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977485 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977485 ms (missed cycles : 3).[0m ×2 + 15.75sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.75sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.75sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 17.46sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 19.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 19.42sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 19.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 19.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 19.42sINFOobjective_server_nodecaller: ×10 + 19.42sINFOobjective_server_nodetype: 0 ×10 + 19.42sINFOobjective_server_nodename: "" ×10 + 19.42sINFOobjective_server_nodeinstance_id: "" ×10 + 19.42sINFOobjective_server_node ×10 + 19.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.46sINFOmove_groupClearing octomap...[0m ×2 + 19.46sINFOmove_groupOctomap cleared.[0m ×2 + 19.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 20.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 20.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.06sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 20.21sWARNros2_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 + 20.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.60sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 20.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 20.81sWARNros2_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 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 21.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 21.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.39sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 21.40sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 21.40sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 21.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 21.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 21.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 21.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 21.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.97sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 22.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 22.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 22.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 22.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 22.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 22.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 22.03sINFOros2_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/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 66.2s | 3 errors · 285 warnings · 255 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.487ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195977 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195977 ms (missed cycles : 4).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.229ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128702 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128702 ms (missed cycles : 2).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.430ms + 1.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.659ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208367 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208367 ms (missed cycles : 4).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.594ms + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOjoint_trajectory_controllerGot request to cancel goal + 2.78sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.78sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.78sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.82sERRORobjective_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: 1788491591.02550173 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sWARNros2_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 + 2.93sWARNros2_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 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.95sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.259ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639468 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639468 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788491591.60531282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.522ms + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983244 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983244 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609086 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609086 ms (missed cycles : 3).[0m ×2 + 6.03sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244190 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244190 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620917 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620917 ms (missed cycles : 4).[0m ×2 + 8.11sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871028 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871028 ms (missed cycles : 2).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.737ms + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.340ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146210 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146210 ms (missed cycles : 2).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.419ms + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.698ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789910 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789910 ms (missed cycles : 3).[0m ×2 + 11.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.290ms + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.353ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273467 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273467 ms (missed cycles : 2).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.991ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027941 ms (missed cycles : 4). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027941 ms (missed cycles : 4).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 3886 particles 723 points - 8.473ms + 13.41sWARNros2_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 + 13.44sWARNros2_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 + 13.45sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 5.386ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936524 ms (missed cycles : 3). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936524 ms (missed cycles : 3).[0m ×2 + 14.06sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 3.487ms + 14.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.235ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504394 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504394 ms (missed cycles : 3).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 15.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.478ms + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517530 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517530 ms (missed cycles : 2).[0m ×2 + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645724 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645724 ms (missed cycles : 2).[0m ×2 + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323400 ms (missed cycles : 4). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323400 ms (missed cycles : 4).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 19.01sWARNros2_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 + 19.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 19.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051172 ms (missed cycles : 4). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051172 ms (missed cycles : 4).[0m ×2 + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.267ms + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647200 ms (missed cycles : 2). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647200 ms (missed cycles : 2).[0m ×2 + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563396 ms (missed cycles : 3). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563396 ms (missed cycles : 3).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.653ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606130 ms (missed cycles : 5). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.606130 ms (missed cycles : 5).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.358ms + 23.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263987 ms (missed cycles : 3). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263987 ms (missed cycles : 3).[0m ×2 + 24.07sWARNros2_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 + 24.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658822 ms (missed cycles : 2). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658822 ms (missed cycles : 2).[0m ×2 + 25.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158036 ms (missed cycles : 4). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158036 ms (missed cycles : 4).[0m ×2 + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms ×2 + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559818 ms (missed cycles : 3). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559818 ms (missed cycles : 3).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 28.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260315 ms (missed cycles : 3). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260315 ms (missed cycles : 3).[0m ×2 + 28.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284919 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284919 ms (missed cycles : 2).[0m ×2 + 29.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 29.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.917ms + 30.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069685 ms (missed cycles : 3). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069685 ms (missed cycles : 3).[0m ×2 + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834611 ms (missed cycles : 2). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.834611 ms (missed cycles : 2).[0m ×2 + 31.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.186ms + 32.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 32.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879404 ms (missed cycles : 5). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879404 ms (missed cycles : 5).[0m ×2 + 32.93sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423410 ms (missed cycles : 4). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423410 ms (missed cycles : 4).[0m ×2 + 34.46sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.46sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747666 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747666 ms (missed cycles : 2).[0m ×2 + 34.67sWARNros2_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 + 34.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.179ms + 34.87sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186589 ms (missed cycles : 4). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186589 ms (missed cycles : 4).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131205 ms (missed cycles : 5). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131205 ms (missed cycles : 5).[0m ×2 + 37.22sINFOobjective_server_nodePlanning for 16 path waypoints. ×6 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431737 ms (missed cycles : 4). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431737 ms (missed cycles : 4).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752578 ms (missed cycles : 5). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752578 ms (missed cycles : 5).[0m ×2 + 39.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254755 ms (missed cycles : 3). + 39.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254755 ms (missed cycles : 3).[0m ×2 + 39.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 40.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782312 ms (missed cycles : 3). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782312 ms (missed cycles : 3).[0m ×2 + 41.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 41.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.187ms + 41.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246560 ms (missed cycles : 4). + 41.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246560 ms (missed cycles : 4).[0m ×2 + 42.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.623ms + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552444 ms (missed cycles : 3). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552444 ms (missed cycles : 3).[0m ×2 + 43.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.932ms + 43.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162911 ms (missed cycles : 2). + 43.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162911 ms (missed cycles : 2).[0m ×2 + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653262 ms (missed cycles : 2). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653262 ms (missed cycles : 2).[0m ×2 + 45.44sWARNros2_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 ×6 + 46.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796391 ms (missed cycles : 3). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796391 ms (missed cycles : 3).[0m ×2 + 47.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963139 ms (missed cycles : 3). + 47.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963139 ms (missed cycles : 3).[0m ×2 + 47.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 48.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286756 ms (missed cycles : 4). + 48.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286756 ms (missed cycles : 4).[0m ×2 + 48.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.673ms + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150248 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150248 ms (missed cycles : 2).[0m ×2 + 50.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 50.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219176 ms (missed cycles : 3). + 50.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219176 ms (missed cycles : 3).[0m ×2 + 51.04sWARNros2_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 ×4 + 51.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 51.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615521 ms (missed cycles : 3). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615521 ms (missed cycles : 3).[0m ×2 + 52.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648584 ms (missed cycles : 5). + 52.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648584 ms (missed cycles : 5).[0m ×2 + 53.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842410 ms (missed cycles : 2). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842410 ms (missed cycles : 2).[0m ×2 + 54.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915524 ms (missed cycles : 2). + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915524 ms (missed cycles : 2).[0m ×2 + 55.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.802ms + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373531 ms (missed cycles : 3). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373531 ms (missed cycles : 3).[0m ×2 + 56.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.851ms + 56.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 56.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568322 ms (missed cycles : 2). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568322 ms (missed cycles : 2).[0m ×2 + 57.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244093 ms (missed cycles : 4). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.244093 ms (missed cycles : 4).[0m ×2 + 59.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336321 ms (missed cycles : 3). + 59.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336321 ms (missed cycles : 3).[0m ×2 + 59.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.237ms + 60.05sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 60.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460087 ms (missed cycles : 2). + 60.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460087 ms (missed cycles : 2).[0m ×2 + 61.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108326 ms (missed cycles : 2). + 61.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108326 ms (missed cycles : 2).[0m ×2 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672691 ms (missed cycles : 2). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672691 ms (missed cycles : 2).[0m ×2 + 63.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187702 ms (missed cycles : 2). + 63.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187702 ms (missed cycles : 2).[0m ×2 + 64.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 64.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253845 ms (missed cycles : 3). + 64.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253845 ms (missed cycles : 3).[0m ×2 + 65.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876788 ms (missed cycles : 2). + 65.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876788 ms (missed cycles : 2).[0m ×2 + 65.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 66.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900257 ms (missed cycles : 4). + 66.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900257 ms (missed cycles : 4).[0m ×2 + 67.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 67.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000007 ms (missed cycles : 2). + 67.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000007 ms (missed cycles : 2).[0m ×2 + 68.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913579 ms (missed cycles : 5). + 68.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913579 ms (missed cycles : 5).[0m ×2 + 69.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788491657.21549392 seconds ×3 + 69.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 69.15sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 69.15sWARNlocal_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. ×5 + 69.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.528806 ms (missed cycles : 4). + 69.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.528806 ms (missed cycles : 4).[0m ×2 + 69.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.55sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.58sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788491657.79394197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.705ms + 70.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862198 ms (missed cycles : 5). + 70.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862198 ms (missed cycles : 5).[0m ×2 + 71.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122919 ms (missed cycles : 4). + 71.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122919 ms (missed cycles : 4).[0m ×2 + 72.40sWARNros2_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 + 72.42sWARNros2_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 + 72.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 72.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.4s | 244 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249294 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249294 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584312 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584312 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.93sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.93sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788491434.72231603 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537185 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537185 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.50sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.50sINFOobjective_server_nodecaller: ×4 + 3.50sINFOobjective_server_nodetype: 0 ×4 + 3.50sINFOobjective_server_nodename: "" ×4 + 3.50sINFOobjective_server_nodeinstance_id: "" ×4 + 3.50sINFOobjective_server_node ×4 + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788491435.29962921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.12sWARNros2_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 + 4.16sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 2.316ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489591 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489591 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×10 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630716 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630716 ms (missed cycles : 3).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.38sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267696 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267696 ms (missed cycles : 4).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286163 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286163 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578517 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578517 ms (missed cycles : 2).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 3.159ms + 9.35sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.41sWARNros2_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 + 9.45sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.642ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850869 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850869 ms (missed cycles : 3).[0m ×2 + 10.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 10.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629540 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629540 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.054ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202874 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202874 ms (missed cycles : 2).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 12.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312531 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312531 ms (missed cycles : 2).[0m ×2 + 13.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.463ms + 13.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084564 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084564 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 14.77sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 14.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427499 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427499 ms (missed cycles : 2).[0m ×2 + 15.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 16.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.661ms + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602326 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602326 ms (missed cycles : 2).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.438ms + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024218 ms (missed cycles : 3). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024218 ms (missed cycles : 3).[0m ×2 + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 17.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382620 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382620 ms (missed cycles : 2).[0m ×2 + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600056 ms (missed cycles : 3). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600056 ms (missed cycles : 3).[0m ×2 + 20.26sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053570 ms (missed cycles : 4). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053570 ms (missed cycles : 4).[0m ×2 + 20.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086922 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.086922 ms (missed cycles : 3).[0m ×2 + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 22.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043817 ms (missed cycles : 3). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043817 ms (missed cycles : 3).[0m ×2 + 22.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.180ms + 23.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330802 ms (missed cycles : 2). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330802 ms (missed cycles : 2).[0m ×2 + 24.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.901ms + 24.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659503 ms (missed cycles : 3). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659503 ms (missed cycles : 3).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843323 ms (missed cycles : 3). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843323 ms (missed cycles : 3).[0m ×2 + 25.81sWARNros2_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 + 25.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 26.44sWARNros2_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 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.713ms + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575883 ms (missed cycles : 3). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575883 ms (missed cycles : 3).[0m ×2 + 27.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043271 ms (missed cycles : 4). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043271 ms (missed cycles : 4).[0m ×2 + 28.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 28.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612556 ms (missed cycles : 4). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.612556 ms (missed cycles : 4).[0m ×2 + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.207ms + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924924 ms (missed cycles : 3). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924924 ms (missed cycles : 3).[0m ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.957ms + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738723 ms (missed cycles : 2). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738723 ms (missed cycles : 2).[0m ×2 + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.955ms + 31.95sWARNros2_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 + 31.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200557 ms (missed cycles : 5). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200557 ms (missed cycles : 5).[0m ×2 + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822859 ms (missed cycles : 2). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822859 ms (missed cycles : 2).[0m ×2 + 33.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.112ms + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977395 ms (missed cycles : 4). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977395 ms (missed cycles : 4).[0m ×2 + 34.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 34.80sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241371 ms (missed cycles : 2). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241371 ms (missed cycles : 2).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824721 ms (missed cycles : 5). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824721 ms (missed cycles : 5).[0m ×2 + 36.33sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 37.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111930 ms (missed cycles : 5). + 37.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111930 ms (missed cycles : 5).[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635715 ms (missed cycles : 4). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635715 ms (missed cycles : 4).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828900 ms (missed cycles : 3). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828900 ms (missed cycles : 3).[0m ×2 + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240678 ms (missed cycles : 3). + 40.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240678 ms (missed cycles : 3).[0m ×2 + 41.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323318 ms (missed cycles : 3). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323318 ms (missed cycles : 3).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310497 ms (missed cycles : 2). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310497 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139856 ms (missed cycles : 3). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139856 ms (missed cycles : 3).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469214 ms (missed cycles : 2). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469214 ms (missed cycles : 2).[0m ×2 + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464946 ms (missed cycles : 3). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464946 ms (missed cycles : 3).[0m ×2 + 46.96sWARNros2_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 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740304 ms (missed cycles : 3). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740304 ms (missed cycles : 3).[0m ×2 + 47.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367377 ms (missed cycles : 4). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.367377 ms (missed cycles : 4).[0m ×2 + 48.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.246ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236084 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236084 ms (missed cycles : 2).[0m ×2 + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461631 ms (missed cycles : 3). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461631 ms (missed cycles : 3).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000451 ms (missed cycles : 2). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000451 ms (missed cycles : 2).[0m ×2 + 52.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380468 ms (missed cycles : 2). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380468 ms (missed cycles : 2).[0m ×2 + 52.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.561ms + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465319 ms (missed cycles : 4). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465319 ms (missed cycles : 4).[0m ×2 + 54.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172637 ms (missed cycles : 3). + 54.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172637 ms (missed cycles : 3).[0m ×2 + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156969 ms (missed cycles : 3). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156969 ms (missed cycles : 3).[0m ×2 + 55.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.638ms + 56.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382947 ms (missed cycles : 2). + 56.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382947 ms (missed cycles : 2).[0m ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3).[0m ×2 + 58.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3). + 58.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3).[0m ×2 + 59.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3). + 59.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3).[0m ×2 + 60.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491492.15978074 seconds ×3 + 60.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 60.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 60.59sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.59sWARNlocal_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 + 60.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2). + 60.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2).[0m ×2 + 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: 1788491492.74509907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.536ms + 61.36sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 61.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2). + 61.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2).[0m ×2 + 61.71sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2). + 62.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2).[0m ×2 + 63.34sWARNros2_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 + 63.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4). + 63.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 252 warnings · 199 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757309 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757309 ms (missed cycles : 2).[0m ×2 + 8.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.438ms + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252070 ms (missed cycles : 4). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252070 ms (missed cycles : 4).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.573ms + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172172 ms (missed cycles : 4). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172172 ms (missed cycles : 4).[0m ×2 + 10.33sWARNros2_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 + 10.35sWARNros2_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 + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.217ms + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.775ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493998 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493998 ms (missed cycles : 2).[0m ×2 + 11.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.982ms + 12.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.874ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009613 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009613 ms (missed cycles : 3).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.724ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773473 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773473 ms (missed cycles : 2).[0m ×2 + 13.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.272ms + 13.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.831ms + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783774 ms (missed cycles : 2). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783774 ms (missed cycles : 2).[0m ×2 + 14.56sINFOamclParticle filter update iteration stats: 3034 particles 723 points - 6.796ms + 15.17sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 3.824ms + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436909 ms (missed cycles : 3). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436909 ms (missed cycles : 3).[0m ×2 + 15.72sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 15.75sWARNros2_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 + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.281ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.723ms + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157924 ms (missed cycles : 4). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157924 ms (missed cycles : 4).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558600 ms (missed cycles : 3). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558600 ms (missed cycles : 3).[0m ×2 + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.672ms + 18.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436151 ms (missed cycles : 3). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436151 ms (missed cycles : 3).[0m ×2 + 18.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 19.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540922 ms (missed cycles : 3). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540922 ms (missed cycles : 3).[0m ×2 + 20.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 20.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678015 ms (missed cycles : 2). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678015 ms (missed cycles : 2).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 21.28sWARNros2_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 ×6 + 21.30sWARNros2_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 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280957 ms (missed cycles : 5). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.280957 ms (missed cycles : 5).[0m ×2 + 21.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.329ms + 22.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189315 ms (missed cycles : 2). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189315 ms (missed cycles : 2).[0m ×2 + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.245ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696583 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696583 ms (missed cycles : 3).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738141 ms (missed cycles : 5). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.738141 ms (missed cycles : 5).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 25.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168327 ms (missed cycles : 4). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168327 ms (missed cycles : 4).[0m ×2 + 26.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074669 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074669 ms (missed cycles : 2).[0m ×2 + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.768ms + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738392 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738392 ms (missed cycles : 3).[0m ×2 + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.225ms + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610049 ms (missed cycles : 3). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610049 ms (missed cycles : 3).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.689ms + 30.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.830ms + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077009 ms (missed cycles : 4). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.077009 ms (missed cycles : 4).[0m ×2 + 30.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.682ms + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693029 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693029 ms (missed cycles : 3).[0m ×2 + 31.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.587ms + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.958ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696793 ms (missed cycles : 2). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696793 ms (missed cycles : 2).[0m ×2 + 32.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.756ms + 33.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419485 ms (missed cycles : 4). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419485 ms (missed cycles : 4).[0m ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011324 ms (missed cycles : 3). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011324 ms (missed cycles : 3).[0m ×2 + 34.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 34.73sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361702 ms (missed cycles : 3). + 35.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361702 ms (missed cycles : 3).[0m ×2 + 36.40sWARNros2_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 + 36.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254473 ms (missed cycles : 4). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254473 ms (missed cycles : 4).[0m ×2 + 37.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581653 ms (missed cycles : 2). + 37.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581653 ms (missed cycles : 2).[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516241 ms (missed cycles : 3). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516241 ms (missed cycles : 3).[0m ×2 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274744 ms (missed cycles : 4). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274744 ms (missed cycles : 4).[0m ×2 + 40.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902820 ms (missed cycles : 5). + 40.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902820 ms (missed cycles : 5).[0m ×2 + 41.43sWARNros2_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 + 41.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 41.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.645ms + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562515 ms (missed cycles : 5). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562515 ms (missed cycles : 5).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450631 ms (missed cycles : 4). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450631 ms (missed cycles : 4).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956720 ms (missed cycles : 2). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956720 ms (missed cycles : 2).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250882 ms (missed cycles : 3). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250882 ms (missed cycles : 3).[0m ×2 + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482153 ms (missed cycles : 2). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482153 ms (missed cycles : 2).[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312476 ms (missed cycles : 5). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312476 ms (missed cycles : 5).[0m ×2 + 48.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883581 ms (missed cycles : 4). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883581 ms (missed cycles : 4).[0m ×2 + 49.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161596 ms (missed cycles : 4). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161596 ms (missed cycles : 4).[0m ×2 + 50.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563471 ms (missed cycles : 3). + 50.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563471 ms (missed cycles : 3).[0m ×2 + 51.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493148 ms (missed cycles : 2). + 51.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493148 ms (missed cycles : 2).[0m ×2 + 52.06sWARNros2_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 + 52.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×2 + 52.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.011ms + 52.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811816 ms (missed cycles : 3). + 52.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811816 ms (missed cycles : 3).[0m ×2 + 53.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644713 ms (missed cycles : 3). + 53.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644713 ms (missed cycles : 3).[0m ×2 + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520219 ms (missed cycles : 2). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520219 ms (missed cycles : 2).[0m ×2 + 55.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 55.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652899 ms (missed cycles : 3). + 55.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652899 ms (missed cycles : 3).[0m ×2 + 56.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166872 ms (missed cycles : 4). + 56.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166872 ms (missed cycles : 4).[0m ×2 + 57.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886411 ms (missed cycles : 3). + 57.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886411 ms (missed cycles : 3).[0m ×2 + 59.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217756 ms (missed cycles : 4). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217756 ms (missed cycles : 4).[0m ×2 + 60.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638024 ms (missed cycles : 3). + 60.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638024 ms (missed cycles : 3).[0m ×2 + 60.37sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788491720.98371720 seconds ×3 + 60.45sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.45sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.85sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.85sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.91sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788491721.57219410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151231 ms (missed cycles : 2). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151231 ms (missed cycles : 2).[0m ×2 + 61.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.987ms + 61.40sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 61.83sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 62.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151466 ms (missed cycles : 5). + 62.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151466 ms (missed cycles : 5).[0m ×2 + 63.13sWARNros2_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 + 63.15sWARNros2_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 + 63.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469983 ms (missed cycles : 3). + 63.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469983 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 49.2s | 233 warnings · 218 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491531.14169049 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 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_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 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sWARNlocal_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. ×5 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4).[0m ×2 + 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 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491531.71813464 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 + 3.81sWARNlocal_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. ×5 + 3.81sWARNlocal_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. ×5 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.468ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4).[0m ×2 + 4.85sWARNros2_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 + 4.87sWARNros2_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 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4).[0m ×2 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978605 ms (missed cycles : 5). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978605 ms (missed cycles : 5).[0m ×2 + 8.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.168ms + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545800 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545800 ms (missed cycles : 3).[0m ×2 + 9.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.141ms + 9.95sWARNros2_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 + 9.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.475ms + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234152 ms (missed cycles : 2). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234152 ms (missed cycles : 2).[0m ×2 + 10.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.703ms + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643723 ms (missed cycles : 3). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643723 ms (missed cycles : 3).[0m ×2 + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.287ms + 11.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.666ms + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592590 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592590 ms (missed cycles : 2).[0m ×2 + 12.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.189ms + 12.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.378ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327869 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327869 ms (missed cycles : 2).[0m ×2 + 13.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 14.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.430ms + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118797 ms (missed cycles : 3). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118797 ms (missed cycles : 3).[0m ×2 + 14.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.447ms + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017540 ms (missed cycles : 5). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.017540 ms (missed cycles : 5).[0m ×2 + 15.35sWARNros2_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 + 15.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.65 s); lidar_front (0.65 s); lidar_rear (0.65 s); wrist_camera (0.65 s). The render path has stopped producing new frames for them.[0m ×4 + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 15.99sINFOamclParticle filter update iteration stats: 4322 particles 723 points - 8.215ms + 16.58sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 7.478ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744973 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744973 ms (missed cycles : 3).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.852ms + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865319 ms (missed cycles : 5). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865319 ms (missed cycles : 5).[0m ×2 + 17.77sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 3.813ms + 18.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.029ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661215 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661215 ms (missed cycles : 2).[0m ×2 + 19.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742770 ms (missed cycles : 2). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742770 ms (missed cycles : 2).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.224ms + 20.86sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979663 ms (missed cycles : 3). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979663 ms (missed cycles : 3).[0m ×2 + 21.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.310ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms ×2 + 22.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571938 ms (missed cycles : 3). + 22.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571938 ms (missed cycles : 3).[0m ×2 + 22.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 23.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136664 ms (missed cycles : 4). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136664 ms (missed cycles : 4).[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701730 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701730 ms (missed cycles : 2).[0m ×2 + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 25.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.087ms + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851208 ms (missed cycles : 2). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851208 ms (missed cycles : 2).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 26.40sWARNros2_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 + 26.42sWARNros2_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 + 26.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861087 ms (missed cycles : 4). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.861087 ms (missed cycles : 4).[0m ×2 + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017756 ms (missed cycles : 4). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017756 ms (missed cycles : 4).[0m ×2 + 28.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.574ms + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669249 ms (missed cycles : 2). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669249 ms (missed cycles : 2).[0m ×2 + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 30.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.605ms + 30.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473609 ms (missed cycles : 3). + 30.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473609 ms (missed cycles : 3).[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 31.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336693 ms (missed cycles : 2). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336693 ms (missed cycles : 2).[0m ×2 + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 32.03sWARNros2_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 + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155822 ms (missed cycles : 2). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155822 ms (missed cycles : 2).[0m ×2 + 33.18sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454148 ms (missed cycles : 2). + 33.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454148 ms (missed cycles : 2).[0m ×2 + 34.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.669ms + 34.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594463 ms (missed cycles : 3). + 34.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594463 ms (missed cycles : 3).[0m ×2 + 35.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174444 ms (missed cycles : 3). + 36.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174444 ms (missed cycles : 3).[0m ×2 + 36.24sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212337 ms (missed cycles : 3). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212337 ms (missed cycles : 3).[0m ×2 + 37.18sWARNros2_control_nodeCamera render tick took 0.65 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 37.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.67 s); lidar_front (0.67 s); lidar_rear (0.67 s); wrist_camera (0.67 s). The render path has stopped producing new frames for them.[0m ×2 + 38.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839407 ms (missed cycles : 5). + 38.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.839407 ms (missed cycles : 5).[0m ×2 + 38.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms ×2 + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994754 ms (missed cycles : 2). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994754 ms (missed cycles : 2).[0m ×2 + 39.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357349 ms (missed cycles : 3). + 40.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357349 ms (missed cycles : 3).[0m ×2 + 40.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 40.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078334 ms (missed cycles : 5). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078334 ms (missed cycles : 5).[0m ×2 + 41.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 42.18sWARNros2_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 + 42.20sWARNros2_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 + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989083 ms (missed cycles : 2). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989083 ms (missed cycles : 2).[0m ×2 + 43.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307467 ms (missed cycles : 3). + 43.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307467 ms (missed cycles : 3).[0m ×2 + 44.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281676 ms (missed cycles : 2). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281676 ms (missed cycles : 2).[0m ×2 + 44.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 45.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms ×2 + 45.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919857 ms (missed cycles : 2). + 45.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919857 ms (missed cycles : 2).[0m ×2 + 45.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 46.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319077 ms (missed cycles : 4). + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319077 ms (missed cycles : 4).[0m ×2 + 47.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.400348 ms (missed cycles : 6). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.400348 ms (missed cycles : 6).[0m ×2 + 47.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255186 ms (missed cycles : 4). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255186 ms (missed cycles : 4).[0m ×2 + 49.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.053ms + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801346 ms (missed cycles : 3). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801346 ms (missed cycles : 3).[0m ×2 + 51.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550168 ms (missed cycles : 3). + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550168 ms (missed cycles : 3).[0m ×2 + 51.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347771 ms (missed cycles : 4). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347771 ms (missed cycles : 4).[0m ×2 + 52.42sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788491580.36826825 seconds ×3 + 52.51sWARNlocal_costmap.local_costmapSensor origin at (-2.11, 11.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 52.51sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 11.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 52.70sWARNros2_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 + 52.71sWARNlocal_costmap.local_costmapSensor origin at (-2.09, 11.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 52.72sWARNros2_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 + 52.81sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 11.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 52.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 52.96sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 53.00sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788491580.94480038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739184 ms (missed cycles : 2). + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739184 ms (missed cycles : 2).[0m ×2 + 53.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.722ms + 53.42sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 54.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170592 ms (missed cycles : 3). + 54.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170592 ms (missed cycles : 3).[0m ×2 + 54.83sWARNglobal_costmap.global_costmapSensor origin at (3.14, -3.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 54.83sWARNglobal_costmap.global_costmapSensor origin at (2.31, -3.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 55.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505491 ms (missed cycles : 3). + 55.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505491 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 181 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.61sINFOobjective_server_nodecaller: ×12 + 0.61sINFOobjective_server_nodetype: 0 ×12 + 0.61sINFOobjective_server_nodename: "" ×12 + 0.61sINFOobjective_server_nodeinstance_id: "" ×12 + 0.61sINFOobjective_server_node ×12 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.64sINFOmove_groupClearing octomap...[0m ×2 + 0.64sINFOmove_groupOctomap cleared.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 1.39sWARNros2_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 ×16 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 1.99sWARNros2_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 ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_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 + 2.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902474 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902474 ms (missed cycles : 2).[0m ×2 + 7.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×4 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718689 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718689 ms (missed cycles : 3).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.883ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661294 ms (missed cycles : 5). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661294 ms (missed cycles : 5).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308735 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308735 ms (missed cycles : 2).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708569 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708569 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962345 ms (missed cycles : 3).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120092 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120092 ms (missed cycles : 2).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735341 ms (missed cycles : 3). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735341 ms (missed cycles : 3).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763722 ms (missed cycles : 5). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.763722 ms (missed cycles : 5).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895375 ms (missed cycles : 3). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895375 ms (missed cycles : 3).[0m ×2 + 16.83sWARNros2_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 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520226 ms (missed cycles : 2). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.520226 ms (missed cycles : 2).[0m ×2 + 18.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203246 ms (missed cycles : 4). + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203246 ms (missed cycles : 4).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072239 ms (missed cycles : 2). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072239 ms (missed cycles : 2).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916951 ms (missed cycles : 2). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916951 ms (missed cycles : 2).[0m ×2 + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392838 ms (missed cycles : 4). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392838 ms (missed cycles : 4).[0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690142 ms (missed cycles : 2). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690142 ms (missed cycles : 2).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761739 ms (missed cycles : 3). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761739 ms (missed cycles : 3).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219915 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219915 ms (missed cycles : 2).[0m ×2 + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429869 ms (missed cycles : 3). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429869 ms (missed cycles : 3).[0m ×2 + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814569 ms (missed cycles : 5). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814569 ms (missed cycles : 5).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050578 ms (missed cycles : 4). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050578 ms (missed cycles : 4).[0m ×2 + 28.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611664 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611664 ms (missed cycles : 2).[0m ×2 + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502950 ms (missed cycles : 3). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502950 ms (missed cycles : 3).[0m ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016200 ms (missed cycles : 2). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016200 ms (missed cycles : 2).[0m ×2 + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709941 ms (missed cycles : 3). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709941 ms (missed cycles : 3).[0m ×2 + 33.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554041 ms (missed cycles : 3). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554041 ms (missed cycles : 3).[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779655 ms (missed cycles : 3). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779655 ms (missed cycles : 3).[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755698 ms (missed cycles : 2). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755698 ms (missed cycles : 2).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164317 ms (missed cycles : 4). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164317 ms (missed cycles : 4).[0m ×2 + 37.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004474 ms (missed cycles : 2). + 37.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004474 ms (missed cycles : 2).[0m ×2 + 38.30sWARNros2_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 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753665 ms (missed cycles : 3). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753665 ms (missed cycles : 3).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585140 ms (missed cycles : 2). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585140 ms (missed cycles : 2).[0m ×2 + 40.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657978 ms (missed cycles : 3). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657978 ms (missed cycles : 3).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846866 ms (missed cycles : 2). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846866 ms (missed cycles : 2).[0m ×2 + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2). + 42.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2).[0m ×2 + 43.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5).[0m ×2 + 46.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2). + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2).[0m ×2 + 46.08sINFOjoint_trajectory_controllerGoal reached, success! + 46.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491428.58853436 seconds ×3 + 46.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.66sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491429.17216730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2).[0m ×2 + 47.79sINFOobjective_server_nodeFound path in 0 iterations (2.3804e-05 s). ×2 + 47.86sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3).[0m ×2 + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 156 warnings · 183 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131840 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131840 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677199 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677199 ms (missed cycles : 2).[0m ×2 + 1.98sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.98sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.03sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788491498.56525493 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368184 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368184 ms (missed cycles : 3).[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274351 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274351 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788491500.14104557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.30sWARNros2_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 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223493 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223493 ms (missed cycles : 2).[0m ×2 + 4.59sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971834 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971834 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623254 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623254 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188846 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.188846 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441639 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441639 ms (missed cycles : 2).[0m ×2 + 8.79sWARNros2_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 + 8.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.137ms + 9.37sWARNros2_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 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.805ms + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462623 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462623 ms (missed cycles : 3).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.608ms + 10.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.122ms + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308739 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308739 ms (missed cycles : 2).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.537ms + 11.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.881ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630973 ms (missed cycles : 3). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630973 ms (missed cycles : 3).[0m ×2 + 12.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.767ms + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.803ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956885 ms (missed cycles : 3). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956885 ms (missed cycles : 3).[0m ×2 + 13.52sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 6.768ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000449 ms (missed cycles : 4). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000449 ms (missed cycles : 4).[0m ×2 + 14.09sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.12sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 4.501ms + 14.72sWARNros2_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 + 14.74sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 3.731ms + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912640 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912640 ms (missed cycles : 2).[0m ×2 + 15.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 15.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139564 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139564 ms (missed cycles : 2).[0m ×2 + 16.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.838ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737182 ms (missed cycles : 3). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737182 ms (missed cycles : 3).[0m ×2 + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 18.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291537 ms (missed cycles : 2). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291537 ms (missed cycles : 2).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028632 ms (missed cycles : 2). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028632 ms (missed cycles : 2).[0m ×2 + 19.71sWARNros2_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 + 19.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285232 ms (missed cycles : 3). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285232 ms (missed cycles : 3).[0m ×2 + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464892 ms (missed cycles : 3). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464892 ms (missed cycles : 3).[0m ×2 + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136726 ms (missed cycles : 4). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136726 ms (missed cycles : 4).[0m ×2 + 23.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 24.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 24.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723523 ms (missed cycles : 3). + 24.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723523 ms (missed cycles : 3).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.704ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350750 ms (missed cycles : 4). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350750 ms (missed cycles : 4).[0m ×2 + 25.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.750ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959920 ms (missed cycles : 4). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959920 ms (missed cycles : 4).[0m ×2 + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.928543 ms (missed cycles : 5). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.928543 ms (missed cycles : 5).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 28.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463291 ms (missed cycles : 2). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463291 ms (missed cycles : 2).[0m ×2 + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 29.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.766ms + 29.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087818 ms (missed cycles : 2). + 29.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087818 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.988ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912341 ms (missed cycles : 4). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912341 ms (missed cycles : 4).[0m ×2 + 30.77sWARNros2_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 + 30.79sWARNros2_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 + 30.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.806ms + 31.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 31.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2). + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2).[0m ×2 + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 32.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3).[0m ×2 + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2).[0m ×2 + 34.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 34.61sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491531.14169049 seconds ×3 + 34.73sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.73sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4).[0m ×2 + 35.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 35.15sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491531.71813464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.23sWARNlocal_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. ×5 + 35.23sWARNlocal_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. ×5 + 35.59sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 35.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.468ms + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4). + 36.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4).[0m ×2 + 37.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4). + 37.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.4s | 106 warnings · 239 info |
+ 0.00sWARNros2_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 + 0.02sWARNros2_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 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886411 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886411 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217756 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217756 ms (missed cycles : 4).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638024 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638024 ms (missed cycles : 3).[0m ×2 + 2.67sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.67sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788491720.98371720 seconds ×3 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.25sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.25sINFOobjective_server_nodecaller: ×6 + 3.25sINFOobjective_server_nodetype: 0 ×6 + 3.25sINFOobjective_server_nodename: "" ×6 + 3.25sINFOobjective_server_nodeinstance_id: "" ×6 + 3.25sINFOobjective_server_node ×6 + 3.30sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788491721.57219410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151231 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151231 ms (missed cycles : 2).[0m ×2 + 3.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.987ms + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151466 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.151466 ms (missed cycles : 5).[0m ×2 + 5.46sWARNros2_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 + 5.49sWARNros2_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 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469983 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469983 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925187 ms (missed cycles : 3). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925187 ms (missed cycles : 3).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322011 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322011 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773652 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773652 ms (missed cycles : 2).[0m ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 9.88sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326070 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326070 ms (missed cycles : 2).[0m ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 10.00sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 10.50sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.55sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 10.83sWARNros2_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 + 10.86sWARNros2_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 + 10.91sINFOobjective_server_nodeFound path in 33 iterations (0.0331602 s). ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610782 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610782 ms (missed cycles : 2).[0m ×2 + 11.40sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.47sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616697 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616697 ms (missed cycles : 2).[0m ×2 + 12.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 12.21sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 12.87sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159439 ms (missed cycles : 4). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159439 ms (missed cycles : 4).[0m ×2 + 13.11sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534163 ms (missed cycles : 4). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534163 ms (missed cycles : 4).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950524 ms (missed cycles : 3). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950524 ms (missed cycles : 3).[0m ×2 + 15.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.129ms + 16.11sWARNros2_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 + 16.14sWARNros2_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 + 16.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2).[0m ×2 + 16.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.263ms + 17.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.454ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.641ms + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3).[0m ×2 + 19.10sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491737.37655830 seconds ×3 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3).[0m ×2 + 19.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491737.99192405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.72sINFOmove_groupClearing octomap...[0m ×2 + 19.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.72sINFOmove_groupOctomap cleared.[0m ×2 + 20.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.179ms + 20.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491738.83205342 seconds ×3 + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2).[0m ×2 + 21.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 21.10sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491739.40073085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2).[0m ×2 + 21.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491739.94088006 seconds ×3 + 21.91sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 104 errors · 38 warnings · 516 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.454ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2).[0m ×2 + 1.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.641ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3).[0m ×2 + 1.79sINFOjoint_trajectory_controllerGoal reached, success! + 1.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491737.37655830 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.35sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.35sINFOobjective_server_nodecaller: ×4 + 2.35sINFOobjective_server_nodetype: 0 ×4 + 2.35sINFOobjective_server_nodename: "" ×4 + 2.35sINFOobjective_server_nodeinstance_id: "" ×4 + 2.35sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491737.99192405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.43sINFOmove_groupClearing octomap...[0m ×2 + 2.43sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.43sINFOmove_groupOctomap cleared.[0m ×2 + 2.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.179ms + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491738.83205342 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491739.40073085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNros2_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 + 3.94sWARNros2_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 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491739.94088006 seconds ×3 + 4.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3).[0m ×2 + 5.58sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428714 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428714 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953666 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953666 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831457 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831457 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607537 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607537 ms (missed cycles : 3).[0m ×2 + 10.11sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.13sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.14sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORweb_video_auth_proxy-38process has died [pid 7822, 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 + 10.14sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.16sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.17sERRORweb_bridge_auth_proxy-37process has died [pid 7821, 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 + 10.17sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.18sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.19sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.19sINFOvideo_server-36process has finished cleanly [pid 7820] ×2 + 10.19sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.21sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.22sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.23sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.24sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.25sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.26sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.28sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.29sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.30sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.30sINFOcontroller_managerShutdown request received.... + 10.30sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.30sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.31sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.31sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.31sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.31sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.31sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.31sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.31sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.31sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.31sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.31sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.31sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.31sINFOcontroller_managerShutting down the controller manager. + 10.31sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.32sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.34sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.34sERRORmove_group-24process has died [pid 7752, 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_47rnrus9 --params-file /tmp/launch_params_gmzw0h7x --params-file /tmp/launch_params_yyeb9nh9 --params-file /tmp/launch_params_yt6283af --params-file /tmp/launch_params_cs9uf96g --params-file /tmp/launch_params__ikh02qj']. ×2 + 10.35sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.36sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.37sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.38sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.39sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.41sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.42sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.42sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.42sINFOmap_serverDeactivating + 10.42sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.43sINFOmap_serverCleaning up + 10.43sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.43sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.43sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.43sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.43sINFOcontroller_serverDeactivating + 10.43sINFOlocal_costmap.local_costmapDeactivating + 10.43sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.44sINFOvideo_server2026/09/04 03:15:45 INF shutting down gracefully ×2 + 10.44sINFOvideo_server2026/09/04 03:15:45 INF [WebRTC] closing ×2 + 10.44sINFOvideo_server2026/09/04 03:15:45 INF [RTSP] closing ×2 + 10.44sINFOvideo_server2026/09/04 03:15:45 INF waiting for running hooks ×2 + 10.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.44sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.44sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.44sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.44sERRORmove_groupStack trace (most recent call last) in thread 8433: ×2 + 10.44sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.44sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f03cdcfaa63, in __clone ×2 + 10.44sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f03cdc6daa3, in ×2 + 10.44sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f03cdeffdb3, in ×2 + 10.44sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f03ce664a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.44sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f03ce291620, in rclcpp::Rate::sleep() ×2 + 10.44sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f03ce1d3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.44sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f03ce195087, in ×2 + 10.44sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f03cdece390, in __cxa_throw ×2 + 10.44sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f03cdeb8a54, in std::terminate() ×2 + 10.44sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f03cdece0d9, in ×2 + 10.44sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.44sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.44sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.44sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f03cdeb8ff4, in ×2 + 10.44sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f03cdbf98fe, in abort ×2 + 10.44sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f03cdc1627d, in raise ×2 + 10.44sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f03cdc6fb2c, in pthread_kill ×2 + 10.44sERRORmove_groupAborted (Signal sent by tkill() 7752 0) ×2 + 10.44sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.45sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.45sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.45sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.45sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.45sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.45sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.45sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.45sINFOodom_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 + 10.45sINFOodom_qos_relay.pymain() ×2 + 10.45sINFOodom_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 + 10.45sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.45sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.45sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.45sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.45sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.45sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.45sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.45sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.45sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.45sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.45sERRORamclThe bond connection to the lifecycle manager has been broken + 10.46sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.49sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.50sINFOcontroller_serverCleaning up + 10.50sINFOlocal_costmap.local_costmapCleaning up + 10.52sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.52sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 10.55sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.55sINFOsmoother_serverDeactivating + 10.55sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.56sINFOsmoother_serverCleaning up + 10.58sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.58sINFOplanner_serverDeactivating + 10.58sINFOglobal_costmap.global_costmapDeactivating + 10.64sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.64sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.64sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.64sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.64sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.64sINFOvelocity_smootherDeactivating + 10.64sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.75sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.75sINFOwaypoint_followerDeactivating + 10.75sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.87sINFObt_navigatorDeactivating + 10.87sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.98sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.98sINFObehavior_serverDeactivating + 10.98sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.09sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.10sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.10sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.10sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.10sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.10sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.10sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.10sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.10sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.10sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.10sINFOvelocity_smootherCleaning up + 11.10sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.10sINFOwaypoint_followerCleaning up + 11.13sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.13sINFObt_navigatorCleaning up + 11.21sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.21sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.22sINFOplanner_serverCleaning up + 11.24sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7815] ×2 + 11.24sINFOglobal_costmap.global_costmapCleaning up + 11.24sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.25sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.25sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.28sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.28sINFObehavior_serverCleaning up + 11.29sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.29sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.29sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.29sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.30sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7802] ×2 + 11.31sINFObt_navigatorCompleted Cleaning up + 11.31sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.32sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7801] ×2 + 11.33sINFOui_teleop_bridge-33process has finished cleanly [pid 7809] ×2 + 11.33sINFOexecute_objective_bridge-32process has finished cleanly [pid 7806] ×2 + 11.34sINFOcomponent_container_mt-31process has finished cleanly [pid 7805] ×2 + 11.35sINFOparameter_manager_node-25process has finished cleanly [pid 7799] ×2 + 11.36sINFOwaypoint_manager_node-26process has finished cleanly [pid 7800] ×2 + 11.36sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7734] ×2 + 11.37sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.37sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.37sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.37sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.37sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.37sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.37sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.37sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7733] ×2 + 11.38sINFOstatic_transform_publisher-9process has finished cleanly [pid 7645] ×2 + 11.40sINFOstatic_transform_publisher-8process has finished cleanly [pid 7644] ×2 + 11.40sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.40sINFOlidar_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 + 11.40sINFOlidar_flattener.pymain() ×2 + 11.40sINFOlidar_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 + 11.40sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.40sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.40sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.40sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.40sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.40sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.40sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.41sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.41sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.43sINFOobjective_server_node[2026-09-04 03:15:46.993] [moveit_pro_license] [critical] ×2 + 11.43sINFOobjective_server_node************************************************* ×4 + 11.43sINFOobjective_server_node* MoveIt Pro License ×2 + 11.43sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.44sINFOstatic_transform_publisher-4process has finished cleanly [pid 7640] ×2 + 11.45sINFOstatic_transform_publisher-3process has finished cleanly [pid 7639] ×2 + 11.46sERRORlidar_flattener.py-7process has died [pid 7643, 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_081vmct1']. ×2 + 11.48sERRORodom_qos_relay.py-5process has died [pid 7641, 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 + 11.49sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7642] ×2 + 11.50sINFOobjective_server_node_main-29process has finished cleanly [pid 7803] ×2 + 11.50sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.64sERRORcomponent_container_isolated-1process has died [pid 7637, 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_3hio0nc5 --params-file /tmp/launch_params_xqlqqo9x -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.87sERRORcomponent_container_isolated-2process has died [pid 7638, 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_3hio0nc5 --params-file /tmp/launch_params_8l0zt1f6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.42sINFOcomponent_container_mt-30process has finished cleanly [pid 7804] ×2 + 12.97sINFOweb_bridge-34process has finished cleanly [pid 7814] ×2 + 12.97sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 + 13.05sINFOros2_control_node-12process has finished cleanly [pid 7735] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 99 warnings · 153 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801346 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801346 ms (missed cycles : 3).[0m ×2 + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550168 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550168 ms (missed cycles : 3).[0m ×2 + 1.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.003ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347771 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.347771 ms (missed cycles : 4).[0m ×2 + 2.64sINFOjoint_trajectory_controllerGoal reached, success! + 2.64sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788491580.36826825 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.11, 11.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-2.86, 11.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.96sWARNros2_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 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.09, 11.42) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 2.98sWARNros2_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 + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 11.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.25sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788491580.94480038 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739184 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739184 ms (missed cycles : 2).[0m ×2 + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.722ms + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.29e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170592 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170592 ms (missed cycles : 3).[0m ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (3.14, -3.58) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.09sWARNglobal_costmap.global_costmapSensor origin at (2.31, -3.94) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505491 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505491 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 6.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107089 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107089 ms (missed cycles : 2).[0m ×2 + 7.09sWARNglobal_costmap.global_costmapSensor origin at (3.12, -3.56) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.09sWARNglobal_costmap.global_costmapSensor origin at (2.30, -3.93) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100042 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100042 ms (missed cycles : 2).[0m ×2 + 8.09sWARNglobal_costmap.global_costmapSensor origin at (3.06, -3.50) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.09sWARNglobal_costmap.global_costmapSensor origin at (2.24, -3.86) is out of map bounds (-25.10, -2.90) to (25.23, 58.63). The costmap cannot raytrace for it. + 8.18sWARNros2_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 + 8.20sWARNros2_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 + 8.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.423ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878963 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878963 ms (missed cycles : 3).[0m ×2 + 9.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.137ms + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257296 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257296 ms (missed cycles : 2).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.296ms + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.487ms + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195977 ms (missed cycles : 4). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195977 ms (missed cycles : 4).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.229ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128702 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128702 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.430ms + 12.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.659ms + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208367 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208367 ms (missed cycles : 4).[0m ×2 + 12.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.594ms + 13.29sINFOobjective_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 + 13.29sINFOjoint_trajectory_controllerGot request to cancel goal + 13.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.30sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.34sERRORobjective_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: 1788491591.02550173 seconds ×3 + 13.47sWARNlocal_costmap.local_costmapSensor origin at (-0.49, 2.77) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.47sWARNlocal_costmap.local_costmapSensor origin at (-1.39, 2.79) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.259ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639468 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639468 ms (missed cycles : 4).[0m ×2 + 13.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.88sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788491591.60531282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.522ms + 14.38sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983244 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983244 ms (missed cycles : 3).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609086 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609086 ms (missed cycles : 3).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244190 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244190 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 67 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3).[0m ×2 + 0.53sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.84sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491492.15978074 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.07sWARNlocal_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491492.74509907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.536ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.21sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.21sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.21sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4).[0m ×2 + 6.41sWARNros2_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 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131840 ms (missed cycles : 3). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131840 ms (missed cycles : 3).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677199 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677199 ms (missed cycles : 2).[0m ×2 + 9.27sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788491498.56525493 seconds ×3 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368184 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368184 ms (missed cycles : 3).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274351 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274351 ms (missed cycles : 3).[0m ×2 + 10.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.81sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788491500.14104557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.97sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.23sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 11.54sWARNros2_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 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223493 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.223493 ms (missed cycles : 2).[0m ×2 + 11.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971834 ms (missed cycles : 3). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971834 ms (missed cycles : 3).[0m ×2 + 13.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623254 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623254 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 61 warnings · 139 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.609ms + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900257 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.900257 ms (missed cycles : 4).[0m ×2 + 1.21sWARNros2_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 + 1.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000007 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000007 ms (missed cycles : 2).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913579 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913579 ms (missed cycles : 5).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.05sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788491657.21549392 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) 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 6.528806 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.528806 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788491657.79394197 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.705ms + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862198 ms (missed cycles : 5). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862198 ms (missed cycles : 5).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122919 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122919 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 9.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 10.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.05sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.09sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.48sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 11.63sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.66sWARNros2_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 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 12.69sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 51 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2).[0m ×2 + 0.06sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491428.58853436 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.77sINFOobjective_server_nodecaller: ×4 + 3.77sINFOobjective_server_nodetype: 0 ×4 + 3.77sINFOobjective_server_nodename: "" ×4 + 3.77sINFOobjective_server_nodeinstance_id: "" ×4 + 3.77sINFOobjective_server_node ×4 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491429.17216730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.3804e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249294 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249294 ms (missed cycles : 2).[0m ×2 + 7.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 8.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584312 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584312 ms (missed cycles : 3).[0m ×2 + 8.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 9.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788491434.72231603 seconds ×3 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537185 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537185 ms (missed cycles : 4).[0m ×2 + 9.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.90sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 9.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788491435.29962921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.41sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.52sWARNros2_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 + 10.56sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 2.316ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489591 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489591 ms (missed cycles : 3).[0m ×2 + 11.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630716 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630716 ms (missed cycles : 3).[0m ×2 + 12.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267696 ms (missed cycles : 4). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267696 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.5s | 32 warnings · 119 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.03sWARNros2_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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.263ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.454ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.641ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491737.37655830 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491737.99192405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.179ms + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491738.83205342 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491739.40073085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNros2_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 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491739.94088006 seconds ×3 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428714 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428714 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3).[0m ×2 + 0.53sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491492.15978074 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.07sWARNlocal_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491492.74509907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.536ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.21sINFOjoint_trajectory_controllerReceived new action goal + 4.21sINFOjoint_trajectory_controllerAccepted new action goal + 4.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4).[0m ×2 + 6.41sWARNros2_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 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3).[0m ×2 + 0.53sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491492.15978074 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.07sWARNlocal_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491492.74509907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.536ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.21sINFOjoint_trajectory_controllerReceived new action goal + 4.21sINFOjoint_trajectory_controllerAccepted new action goal + 4.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4).[0m ×2 + 6.41sWARNros2_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 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 0.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.61sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.61sINFOobjective_server_nodecaller: ×10 + 0.61sINFOobjective_server_nodetype: 0 ×10 + 0.61sINFOobjective_server_nodename: "" ×10 + 0.61sINFOobjective_server_nodeinstance_id: "" ×10 + 0.61sINFOobjective_server_node ×10 + 0.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.64sINFOmove_groupClearing octomap...[0m ×2 + 0.64sINFOmove_groupOctomap cleared.[0m ×2 + 0.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 1.39sWARNros2_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 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 1.99sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_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 + 2.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 3.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.15sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.55sINFOjoint_trajectory_controllerReceived new action goal + 4.55sINFOjoint_trajectory_controllerAccepted new action goal + 4.55sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 29 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2).[0m ×2 + 0.06sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491428.58853436 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491429.17216730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.3804e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 29 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165463 ms (missed cycles : 2).[0m ×2 + 0.06sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.903249 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962829 ms (missed cycles : 5).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141145 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788491428.58853436 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.81sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788491429.17216730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191517 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.3804e-05 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 4.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOjoint_trajectory_controllerReceived new action goal + 5.01sINFOjoint_trajectory_controllerAccepted new action goal + 5.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582102 ms (missed cycles : 3).[0m ×2 + 5.79sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4).[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 3.854043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 3.44sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 4.04sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 25 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290130 ms (missed cycles : 4).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249294 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249294 ms (missed cycles : 2).[0m ×2 + 1.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584312 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584312 ms (missed cycles : 3).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788491434.72231603 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537185 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537185 ms (missed cycles : 4).[0m ×2 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.50sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.50sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.50sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.50sINFOobjective_server_nodecaller: ×2 + 3.50sINFOobjective_server_nodetype: 0 ×2 + 3.50sINFOobjective_server_nodename: "" ×2 + 3.50sINFOobjective_server_nodeinstance_id: "" ×2 + 3.50sINFOobjective_server_node ×2 + 3.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 3.53sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788491435.29962921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.12sWARNros2_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 + 4.16sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 2.316ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489591 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489591 ms (missed cycles : 3).[0m ×2 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630716 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630716 ms (missed cycles : 3).[0m ×2 + 6.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal + 6.38sINFOjoint_trajectory_controllerAccepted new action goal + 6.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267696 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267696 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3).[0m ×2 + 0.53sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491492.15978074 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.07sWARNlocal_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491492.74509907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.536ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.21sINFOjoint_trajectory_controllerReceived new action goal + 4.21sINFOjoint_trajectory_controllerAccepted new action goal + 4.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4).[0m ×2 + 6.41sWARNros2_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 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3).[0m ×2 + 0.53sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491492.15978074 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.07sWARNlocal_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491492.74509907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.536ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.21sINFOjoint_trajectory_controllerReceived new action goal + 4.21sINFOjoint_trajectory_controllerAccepted new action goal + 4.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4).[0m ×2 + 6.41sWARNros2_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 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977005 ms (missed cycles : 3).[0m ×2 + 0.53sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940985 ms (missed cycles : 3).[0m ×2 + 1.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729267 ms (missed cycles : 3).[0m ×2 + 2.84sINFOjoint_trajectory_controllerGoal reached, success! + 2.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788491492.15978074 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 3.07sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.07sWARNlocal_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264063 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788491492.74509907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.536ms + 3.83sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064988 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.21sINFOjoint_trajectory_controllerReceived new action goal + 4.21sINFOjoint_trajectory_controllerAccepted new action goal + 4.21sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.21sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215757 ms (missed cycles : 2).[0m ×2 + 5.82sWARNros2_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 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698889 ms (missed cycles : 4).[0m ×2 + 6.41sWARNros2_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 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 45 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491531.14169049 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 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sWARNlocal_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. ×5 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4).[0m ×2 + 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 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491531.71813464 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 + 3.81sWARNlocal_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. ×5 + 3.81sWARNlocal_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. ×5 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.468ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4).[0m ×2 + 4.85sWARNros2_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 + 4.87sWARNros2_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 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 45 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491531.14169049 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 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sWARNlocal_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. ×5 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4).[0m ×2 + 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 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491531.71813464 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 + 3.81sWARNlocal_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. ×5 + 3.81sWARNlocal_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. ×5 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.468ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4).[0m ×2 + 4.85sWARNros2_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 + 4.87sWARNros2_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 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 45 warnings · 75 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255191 ms (missed cycles : 2).[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.594ms + 1.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206435 ms (missed cycles : 3).[0m ×2 + 1.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.343ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042199 ms (missed cycles : 2).[0m ×2 + 3.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.19sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788491531.14169049 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 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.31sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.31sWARNlocal_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. ×5 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289090 ms (missed cycles : 4).[0m ×2 + 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 + 3.77sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788491531.71813464 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 + 3.81sWARNlocal_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. ×5 + 3.81sWARNlocal_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. ×5 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.468ms + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.106729 ms (missed cycles : 4).[0m ×2 + 4.85sWARNros2_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 + 4.87sWARNros2_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 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634182 ms (missed cycles : 4).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180223 ms (missed cycles : 4).[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 3.854043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 3.44sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 4.04sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[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 3.854043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 3.44sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 4.04sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 29 warnings · 69 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050103 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739431 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160822 ms (missed cycles : 4).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! + 3.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788491663.66407084 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481895 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788491664.25357914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897925 ms (missed cycles : 2).[0m ×2 + 5.19sWARNros2_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 + 5.21sWARNros2_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 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948775 ms (missed cycles : 3).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal + 6.30sINFOjoint_trajectory_controllerAccepted new action goal + 6.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.485970 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 29 warnings · 117 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.03sWARNros2_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 + 0.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.263ms + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.454ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.120008 ms (missed cycles : 2).[0m ×2 + 2.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.641ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562304 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788491737.37655830 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526796 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788491737.99192405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.61sINFOmove_groupClearing octomap...[0m ×2 + 3.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.62sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.179ms + 4.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788491738.83205342 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172884 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.99sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788491739.40073085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sWARNros2_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 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890677 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788491739.94088006 seconds ×3 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.469688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.97sINFOobjective_server_nodecaller: ×10 + 1.97sINFOobjective_server_nodetype: 0 ×10 + 1.97sINFOobjective_server_nodename: "" ×10 + 1.97sINFOobjective_server_nodeinstance_id: "" ×10 + 1.97sINFOobjective_server_node ×10 + 2.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.75sWARNros2_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 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.35sWARNros2_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 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 28 warnings · 306 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977485 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977485 ms (missed cycles : 3).[0m ×2 + 0.08sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.08sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.08sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.75sINFOobjective_server_nodecaller: ×10 + 3.75sINFOobjective_server_nodetype: 0 ×10 + 3.75sINFOobjective_server_nodename: "" ×10 + 3.75sINFOobjective_server_nodeinstance_id: "" ×10 + 3.75sINFOobjective_server_node ×10 + 3.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.79sINFOmove_groupClearing octomap...[0m ×2 + 3.79sINFOmove_groupOctomap cleared.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 4.54sWARNros2_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 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 5.14sWARNros2_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 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 7.41sINFOobjective_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 3.854043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 3.44sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 4.04sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.60sINFOjoint_trajectory_controllerReceived new action goal + 6.60sINFOjoint_trajectory_controllerAccepted new action goal + 6.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 25 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977485 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977485 ms (missed cycles : 3).[0m ×2 + 0.08sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.08sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.08sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 1.79sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.75sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.75sINFOobjective_server_nodecaller: ×10 + 3.75sINFOobjective_server_nodetype: 0 ×10 + 3.75sINFOobjective_server_nodename: "" ×10 + 3.75sINFOobjective_server_nodeinstance_id: "" ×10 + 3.75sINFOobjective_server_node ×10 + 3.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.79sINFOmove_groupClearing octomap...[0m ×2 + 3.79sINFOmove_groupOctomap cleared.[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 4.54sWARNros2_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 + 4.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 5.14sWARNros2_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 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 5.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.67sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.36sINFOros2_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 3.854043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 3.44sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 4.04sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_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 3.854043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 3.44sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 4.04sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_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 3.854043 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854043 ms (missed cycles : 3).[0m ×2 + 0.69sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.65sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.65sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.65sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.65sINFOobjective_server_nodecaller: ×10 + 2.65sINFOobjective_server_nodetype: 0 ×10 + 2.65sINFOobjective_server_nodename: "" ×10 + 2.65sINFOobjective_server_nodeinstance_id: "" ×10 + 2.65sINFOobjective_server_node ×10 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.69sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 3.44sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 4.04sWARNros2_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 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.97sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.97sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.97sINFOobjective_server_nodecaller: ×10 + 1.97sINFOobjective_server_nodetype: 0 ×10 + 1.97sINFOobjective_server_nodename: "" ×10 + 1.97sINFOobjective_server_nodeinstance_id: "" ×10 + 1.97sINFOobjective_server_node ×10 + 2.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.00sINFOmove_groupClearing octomap...[0m ×2 + 2.00sINFOmove_groupOctomap cleared.[0m ×2 + 2.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.75sWARNros2_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 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.35sWARNros2_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 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_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 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.51sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.91sINFOjoint_trajectory_controllerReceived new action goal + 5.91sINFOjoint_trajectory_controllerAccepted new action goal + 5.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.91sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 307 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652355 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535230 ms (missed cycles : 2).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.08sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.10sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.10sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.62sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.62sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.62sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.62sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.62sINFOobjective_server_nodecaller: ×10 + 1.62sINFOobjective_server_nodetype: 0 ×10 + 1.62sINFOobjective_server_nodename: "" ×10 + 1.62sINFOobjective_server_nodeinstance_id: "" ×10 + 1.62sINFOobjective_server_node ×10 + 1.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788491383.11576581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.65sINFOmove_groupClearing octomap...[0m ×2 + 1.65sINFOmove_groupOctomap cleared.[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788491383.12608624 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788491383.70861030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788491383.71873307 seconds ×3 + 2.40sWARNros2_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 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788491384.29289532 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788491384.44352078 seconds ×3 + 3.00sWARNros2_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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870982 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788491385.04156852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788491385.09170008 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105829 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788491385.67792940 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728199 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.56sINFOjoint_trajectory_controllerReceived new action goal + 5.56sINFOjoint_trajectory_controllerAccepted new action goal + 5.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930047 ms (missed cycles : 2).[0m ×2 | ||||