79
Total objective tests
18
Objectives passed
0
Objectives failed
61
Objectives skipped
21.6s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 19.2s | 12 errors · 315 warnings · 1526 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/2026-09-11-21-41-37-902283-9953f129ad91-7585 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.14sINFOstatic_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' + 4.14sINFOstatic_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' + 4.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.16sINFOstatic_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' + 4.17sINFOstatic_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' + 4.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.21sINFOcontroller_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. + 4.24sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.25sINFOcontroller_serverCreating controller server + 4.25sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.25sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.27sINFOlocal_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. + 4.28sINFOlocal_costmap.local_costmapCreating Costmap + 4.29sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.43sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.43sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.44sINFOsmoother_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. + 4.47sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.48sINFOsmoother_serverCreating smoother server + 4.48sINFOcontroller_managerupdate rate is 600 Hz + 4.48sINFOcontroller_managerOverruns handling is : enabled + 4.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.48sINFOros2_control_node-12process started with pid [7727] ×2 + 4.48sINFOmove_group-24process started with pid [7747] ×2 + 4.48sINFOparameter_manager_node-25process started with pid [7793] ×2 + 4.48sINFOwaypoint_manager_node-26process started with pid [7794] ×2 + 4.48sINFOmove_joint_resampler_node-27process started with pid [7795] ×2 + 4.48sWARNcontroller_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. + 4.48sINFOmove_end_effector_resampler_node-28process started with pid [7796] ×2 + 4.48sINFOobjective_server_node_main-29process started with pid [7798] ×2 + 4.48sINFOcomponent_container_mt-30process started with pid [7799] ×2 + 4.48sINFOcomponent_container_mt-31process started with pid [7800] ×2 + 4.48sINFOexecute_objective_bridge-32process started with pid [7801] ×2 + 4.49sINFOui_teleop_bridge-33process started with pid [7802] ×2 + 4.49sINFOweb_bridge-34process started with pid [7805] ×2 + 4.49sINFOtf2_web_republisher_node-35process started with pid [7806] ×2 + 4.49sINFOvideo_server-36process started with pid [7815] ×2 + 4.49sINFOweb_bridge_auth_proxy-37process started with pid [7816] ×2 + 4.49sINFOweb_video_auth_proxy-38process started with pid [7817] ×2 + 4.49sINFOcomponent_container_isolated-1process started with pid [7635] ×2 + 4.49sINFOcomponent_container_isolated-2process started with pid [7636] ×2 + 4.49sINFOstatic_transform_publisher-3process started with pid [7637] ×2 + 4.49sINFOstatic_transform_publisher-4process started with pid [7638] ×2 + 4.49sINFOodom_qos_relay.py-5process started with pid [7639] ×2 + 4.49sINFOforward_stereo_publisher.py-6process started with pid [7640] ×2 + 4.49sINFOlidar_flattener.py-7process started with pid [7641] ×2 + 4.49sINFOstatic_transform_publisher-8process started with pid [7642] ×2 + 4.49sINFOstatic_transform_publisher-9process started with pid [7643] ×2 + 4.49sINFOscan_to_scan_filter_chain-10process started with pid [7725] ×2 + 4.49sINFOscan_to_scan_filter_chain-11process started with pid [7726] ×2 + 4.49sINFOros2-13process started with pid [7728] ×2 + 4.49sINFOros2-14process started with pid [7729] ×2 + 4.49sINFOros2-15process started with pid [7732] ×2 + 4.49sINFOros2-16process started with pid [7733] ×2 + 4.49sINFOros2-17process started with pid [7734] ×2 + 4.49sINFOros2-18process started with pid [7735] ×2 + 4.49sINFOros2-19process started with pid [7740] ×2 + 4.49sINFOros2-20process started with pid [7741] ×2 + 4.49sINFOros2-21process started with pid [7742] ×2 + 4.49sINFOros2-22process started with pid [7743] ×2 + 4.49sINFOros2-23process started with pid [7744] ×2 + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.57sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.57sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.57sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.57sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.57sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.57sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.57sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.57sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.57sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.57sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.57sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.57sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.57sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.57sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.57sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.57sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.57sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.57sWARNros2_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 + 4.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.57sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.57sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.60sINFOmap_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. + 4.60sINFOmap_serverCreating + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363775 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363775 ms (missed cycles : 4).[0m ×2 + 4.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.62sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.62sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.63sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.63sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.63sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.65sINFOplanner_serverCreating + 4.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.70sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.71sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.71sINFOglobal_costmap.global_costmapCreating Costmap + 4.72sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.72sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.74sINFOlifecycle_manager_localizationCreating + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.76sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.77sINFObehavior_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. + 4.78sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.78sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.78sINFOmap_serverConfiguring + 4.79sINFOrobot_state_publisherRobot initialized + 4.79sINFOcontroller_managerReceived robot description from topic. + 4.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.80sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.80sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.80sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.83sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.83sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.83sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.83sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.84sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.86sINFObt_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. + 4.89sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.89sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.90sINFObt_navigatorCreating + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.91sINFOvideo_server2026/09/11 21:41:44 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.91sINFOvideo_server2026/09/11 21:41:44 INF configuration loaded from /tmp/moveit-webrtc-t53omvl9/mediamtx.yml ×2 + 4.91sINFOvideo_server2026/09/11 21:41:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.91sINFOvideo_server2026/09/11 21:41:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.91sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.91sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 4.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 4.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 4.92sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 4.95sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.96sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.96sINFOamclConfiguring + 4.97sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.97sINFOmap_serverActivating + 4.97sINFOwaypoint_followerCreating + 4.97sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 4.98sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 4.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.02sINFOvelocity_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. + 5.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.05sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.05sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.06sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.06sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.06sINFOlifecycle_manager_navigationCreating + 5.08sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.08sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.08sINFOamclActivating + 5.08sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.08sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.09sINFOamclSubscribed to map_topic: /map + 5.10sINFOamclSubscribed to scan_topic: /scan_merged + 5.10sINFOamclCreated reinitialize_global_localization service + 5.10sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.10sINFOamclCreated request_nomotion_update service + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.11sINFOamclA new map was received + 5.12sINFOamclInitializing particle filter instance + 5.13sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.13sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.13sINFOcontroller_serverConfiguring controller interface + 5.13sINFOcontroller_servergetting progress checker plugins.. + 5.13sINFOcontroller_servergetting goal checker plugins.. + 5.13sINFOcontroller_serverController frequency set to 20.0000Hz + 5.13sINFOlocal_costmap.local_costmapConfiguring + 5.15sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.18sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.20sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.20sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.21sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.23sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.25sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.26sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.26sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.26sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.26sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.27sWARNlaser_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. + 5.27sWARNscan_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 + 5.27sWARNlaser_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. + 5.29sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.619303 seconds + 5.29sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.29sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.29sINFOmove_groupLoaded robot model in 0.619303 seconds[0m ×2 + 5.29sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.29sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.29sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.30sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.30sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.30sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.30sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.30sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.30sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.30sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.30sINFOcontroller_serverOptimizer reset ×2 + 5.34sINFOcontroller_serverController Server has FollowPath controllers available. + 5.37sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.37sINFOsmoother_serverConfiguring smoother server + 5.37sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.37sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.40sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.40sINFOplanner_serverConfiguring + 5.40sINFOglobal_costmap.global_costmapConfiguring + 5.41sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.42sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.43sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.43sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.43sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.48sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.48sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.48sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.53sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.55sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.55sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.55sINFOplanner_serverPlanner Server has GridBased planners available. + 5.57sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.57sINFObehavior_serverConfiguring + 5.57sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.58sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.59sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.59sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.61sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.61sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×4 + 5.62sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.62sINFObehavior_serverConfiguring spin + 5.65sINFObehavior_serverConfiguring backup + 5.66sINFObehavior_serverConfiguring drive_on_heading + 5.68sINFObehavior_serverConfiguring assisted_teleop + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989421 ms (missed cycles : 2). + 5.71sINFObehavior_serverConfiguring wait + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989421 ms (missed cycles : 2).[0m ×2 + 5.72sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.72sINFObt_navigatorConfiguring + 5.74sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.76sWARNbt_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 + 5.79sINFOamclParticle filter initialization completed + 5.79sINFOamclInitializing particles from estimated pose and covariance + 5.79sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.79sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.79sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.79sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.80sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.95sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.95sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.95sWARNmove_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. + 5.95sWARNmove_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. + 5.95sWARNmove_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. + 5.95sWARNmove_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. + 5.95sWARNmove_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 + 5.95sWARNmove_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 + 5.95sWARNmove_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. + 5.95sWARNmove_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. + 5.95sWARNmove_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 + 5.95sWARNmove_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 + 5.96sWARNmove_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 + 5.96sWARNmove_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 + 5.96sWARNmove_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. + 5.96sWARNmove_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. + 5.96sWARNmove_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. + 5.96sWARNmove_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. + 5.97sWARNmove_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 + 5.97sWARNmove_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 + 5.97sWARNmove_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 + 5.97sWARNmove_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 + 6.01sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.09sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.09sINFOwaypoint_followerConfiguring + 6.12sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.12sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.12sINFOvelocity_smootherConfiguring velocity smoother + 6.13sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.13sINFOcontroller_serverActivating + 6.13sINFOlocal_costmap.local_costmapActivating + 6.13sINFOlocal_costmap.local_costmapChecking transform + 6.13sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×8 + 6.28sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.28sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.28sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.28sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.30sINFOros2_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 + 6.30sINFOros2_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 + 6.32sINFOwaypoint_manager_nodeLoaded robot model in 0.253916 seconds[0m ×2 + 6.32sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.32sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.33sINFOmove_group[2026-09-11 21:41:45.812] [moveit_pro_license] [info] ×2 + 6.33sINFOmove_group************************************************* ×4 + 6.33sINFOmove_group* MoveIt Pro License ×2 + 6.33sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.76sWARNwaypoint_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. + 6.76sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.77sWARNwaypoint_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. + 6.77sWARNwaypoint_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 + 6.78sWARNwaypoint_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. + 6.78sWARNwaypoint_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 + 6.78sWARNwaypoint_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. + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.78sWARNwaypoint_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 + 6.78sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.78sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.78sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.78sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.78sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.78sWARNwaypoint_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. + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.78sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.78sWARNwaypoint_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. + 6.78sWARNwaypoint_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 + 6.79sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.79sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.79sWARNwaypoint_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 + 6.79sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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. + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.79sWARNwaypoint_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 + 6.79sWARNwaypoint_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. + 6.79sWARNwaypoint_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 + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.79sWARNwaypoint_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. + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.80sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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. + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.80sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.80sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.80sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 6.80sWARNwaypoint_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 + 7.12sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.12sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.12sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.13sWARNros2_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 + 7.13sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.13sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.13sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.13sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.13sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.13sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.13sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.13sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.13sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.13sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.13sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.13sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.13sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.13sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.13sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.13sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.13sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.13sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.13sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.13sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.13sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.13sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.15sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.16sINFOwaypoint_manager_node[2026-09-11 21:41:46.644] [moveit_pro_license] [info] ×2 + 7.16sINFOwaypoint_manager_node************************************************* ×4 + 7.16sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.16sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 7.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 7.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.33sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.51sINFOros2_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 + 7.51sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.51sWARNros2_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 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683101 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683101 ms (missed cycles : 2).[0m ×2 + 7.59sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.60sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.61sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.73sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.75sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.76sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.76sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.76sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.76sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.76sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.76sINFOros2_control_node[2026-09-11 21:41:47.247] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 7.77sINFOros2_control_node[2026-09-11 21:41:47.250] [info] Controller state will be published at 10 Hz. ×2 + 7.77sINFOros2_control_node[2026-09-11 21:41:47.252] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.79sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.94sWARNcomponent_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 + 7.95sINFOobjective_server_node[2026-09-11 21:41:47.428] [moveit_pro_license] [info] ×2 + 7.95sINFOobjective_server_node************************************************* ×4 + 7.95sINFOobjective_server_node* MoveIt Pro License ×2 + 7.95sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.95sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 7.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 7.96sINFOstreaming_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) + 7.96sINFOcomponent_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 + 7.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.02sINFOobjective_server_nodeLoaded robot model in 0.0249767 seconds[0m ×2 + 8.02sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.02sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.06sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.06sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.06sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.06sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.11sINFOros2-20process has finished cleanly [pid 7741] ×2 + 8.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 8.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 8.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.18sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.18sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.18sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.29sINFOcomponent_container_mtLoaded robot model in 0.350731 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 + 8.32sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.52sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.52sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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. + 8.53sWARNobjective_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. + 8.53sWARNobjective_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 + 8.53sWARNobjective_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 + 8.66sINFOros2_control_node[2026-09-11 21:41:48.139] [info] Controller state will be published at 20 Hz. ×2 + 8.66sINFOros2_control_node[2026-09-11 21:41:48.140] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.70sINFOobjective_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 + 8.70sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.73sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.73sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.73sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.73sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.73sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.73sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.73sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.80sWARNplanning_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. + 8.80sWARNplanning_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.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_y_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.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.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 + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.81sWARNplanning_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. + 8.81sWARNcomponent_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 + 8.81sWARNcomponent_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 + 8.81sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNcomponent_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 + 8.82sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNplanning_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. + 8.82sWARNplanning_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. + 8.82sWARNcomponent_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 + 8.82sWARNcomponent_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 + 8.87sINFOmove_groupMoveGroup debug mode is ON + 8.87sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.87sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428699 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428699 ms (missed cycles : 2).[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.93sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.93sINFOmove_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 + 8.96sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.96sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 8.96sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.96sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 8.96sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 8.96sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 8.99sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.01sINFOros2-22process has finished cleanly [pid 7743] ×2 + 9.02sINFOcomponent_container_mt[2026-09-11 21:41:48.501] [moveit_pro_license] [info] ×2 + 9.02sINFOcomponent_container_mt************************************************* ×4 + 9.02sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.02sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.02sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 9.02sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 9.02sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 9.02sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 9.06sINFOmove_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
********************************************************
+ 9.06sINFOmove_group ×8 + 9.06sINFOmove_group******************************************************** ×4 + 9.06sINFOmove_group* MoveGroup using: ×2 + 9.06sINFOmove_group* - apply_planning_scene_service ×2 + 9.06sINFOmove_group* - clear_octomap_service ×2 + 9.06sINFOmove_group* - get_group_urdf ×2 + 9.06sINFOmove_group* - load_geometry_from_file ×2 + 9.06sINFOmove_group* - get_planning_scene_service ×2 + 9.06sINFOmove_group* - kinematics_service ×2 + 9.06sINFOmove_group* - save_geometry_to_file ×2 + 9.06sINFOmove_group* - GetPlanningGroups ×2 + 9.06sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.06sINFOmove_group[0m ×2 + 9.07sINFOmove_group[92mYou can start planning now![0m ×2 + 9.13sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.13sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.34sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.34sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.37sINFOros2_control_node[2026-09-11 21:41:48.847] [info] Controller state will be published at 20 Hz. ×2 + 9.37sINFOros2_control_node[2026-09-11 21:41:48.848] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.47sWARNros2_control_nodeCamera render tick took 1.09 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.50sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.50sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.50sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.50sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.68sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 9.68sINFOcontroller_managerLoading controller 'vacuum_gripper' + 9.68sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 9.68sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 9.68sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 9.68sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 9.69sINFOros2-23process has finished cleanly [pid 7744] ×2 + 9.70sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 9.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 9.72sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 9.72sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 9.73sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 9.73sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 9.73sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 9.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 9.73sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 9.73sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 9.73sINFOcontroller_managerSuccessfully switched controllers! ×20 + 9.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 9.74sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 9.74sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505091 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505091 ms (missed cycles : 2).[0m ×2 + 10.05sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.05sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.05sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.05sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 10.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 10.06sINFOros2-17process has finished cleanly [pid 7734] ×2 + 10.10sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 10.10sWARNros2_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 + 10.10sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 10.10sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.10sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.10sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.10sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.11sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.11sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.12sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 10.12sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 10.13sINFOlocal_costmap.local_costmapstart + 10.24sWARNcontroller_serverParameter controller_server.verbose not found + 10.24sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 10.34sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 10.34sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 10.34sINFOsmoother_serverActivating + 10.34sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 10.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 10.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 10.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 10.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.45sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 10.45sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 10.45sINFOplanner_serverActivating + 10.45sINFOglobal_costmap.global_costmapActivating + 10.45sINFOglobal_costmap.global_costmapChecking transform + 10.45sINFOglobal_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 + 10.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 10.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 10.46sINFOros2-15process has finished cleanly [pid 7732] ×2 + 10.50sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.50sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.51sWARNobjective_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 + 10.51sINFOforce_torque_sensor_broadcasterconfigure successful + 10.51sINFOros2_control_nodeconfigure successful[0m ×6 + 10.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.52sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.52sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.52sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789162907.868 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.80sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.80sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 10.80sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.80sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 10.80sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.80sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 10.83sINFOros2-13process has finished cleanly [pid 7728] ×2 + 10.86sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.86sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.86sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.86sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.00sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789162909.585 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978151 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978151 ms (missed cycles : 3).[0m ×2 + 11.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.20sINFOros2_control_node[2026-09-11 21:41:50.683] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.20sINFOros2_control_node[2026-09-11 21:41:50.685] [info] Controller state will be published at 10 Hz. ×2 + 11.20sINFOros2_control_node[2026-09-11 21:41:50.686] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.33sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 7.716ms + 11.45sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789162910.928905, but only time 1789162911.197834 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 11.52sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.52sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.52sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.52sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.52sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 11.53sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 11.54sINFOros2-21process has finished cleanly [pid 7742] ×2 + 11.58sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 11.58sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 11.58sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.58sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.58sINFOplatform_velocity_controllerconfigure successful + 11.58sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.59sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.59sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 11.59sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 11.91sINFOros2-16process has finished cleanly [pid 7733] ×2 + 11.91sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.91sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 11.92sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.92sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 11.92sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 11.92sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 11.95sINFOglobal_costmap.global_costmapstart + 11.97sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 11.97sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 11.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 11.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 11.98sINFOplatform_velocity_controller_nav2configure successful + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591359 ms (missed cycles : 2). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591359 ms (missed cycles : 2).[0m ×2 + 12.34sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.34sINFOros2-18process has finished cleanly [pid 7735] ×2 + 12.34sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.34sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.34sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.34sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.35sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 12.35sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 12.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.41sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.41sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.41sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.41sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.41sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.42sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.76sINFOros2-19process has finished cleanly [pid 7740] ×2 + 12.79sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.79sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.79sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.79sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.79sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 + 12.79sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_sj9xfc24 --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_dosiyat1 --params-file /tmp/launch_params_r5rgg363 [0m ×2 + 12.83sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 12.83sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 12.83sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.83sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.85sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.85sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.85sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 12.85sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 13.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 13.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 13.06sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.06sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.08sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.08sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 13.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 13.11sINFObehavior_serverActivating + 13.11sINFObehavior_serverActivating spin + 13.11sINFObehavior_serverActivating backup + 13.11sINFObehavior_serverActivating drive_on_heading + 13.11sINFObehavior_serverActivating assisted_teleop + 13.11sINFObehavior_serverActivating wait + 13.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585912 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585912 ms (missed cycles : 3).[0m ×2 + 13.16sINFOros2-14process has finished cleanly [pid 7729] ×2 + 13.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 13.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 13.21sINFObt_navigatorActivating + 13.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 13.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 13.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 13.37sINFOwaypoint_followerActivating + 13.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 13.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 13.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 13.47sINFOvelocity_smootherActivating + 13.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 13.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 13.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 13.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427363 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427363 ms (missed cycles : 2).[0m ×2 + 14.72sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 15.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 17.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 18.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.19sINFOobjective_server_nodecaller: ×10 + 18.19sINFOobjective_server_nodetype: 0 ×10 + 18.19sINFOobjective_server_nodename: "" ×10 + 18.19sINFOobjective_server_nodeinstance_id: "" ×10 + 18.19sINFOobjective_server_node ×10 + 18.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.23sINFOmove_groupClearing octomap...[0m ×2 + 18.23sINFOmove_groupOctomap cleared.[0m ×2 + 18.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 18.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 19.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 19.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 20.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 20.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 20.66sWARNros2_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 + 20.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[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 | 65.8s | 3 errors · 290 warnings · 258 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.063ms + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164929 ms (missed cycles : 4). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164929 ms (missed cycles : 4).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.595ms + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.798ms + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989932 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989932 ms (missed cycles : 2).[0m ×2 + 1.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.427ms + 2.21sWARNros2_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 ×8 + 2.23sWARNros2_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 ×8 + 2.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.666ms + 2.80sINFOamclParticle filter update iteration stats: 4590 particles 723 points - 7.179ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286942 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286942 ms (missed cycles : 3).[0m ×2 + 2.96sINFOobjective_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 + 2.97sINFOjoint_trajectory_controllerGot request to cancel goal + 2.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.97sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789163128.76022434 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_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 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sINFOamclParticle filter update iteration stats: 3180 particles 723 points - 6.116ms + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789163129.34030867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501373 ms (missed cycles : 2). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501373 ms (missed cycles : 2).[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853833 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853833 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716942 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716942 ms (missed cycles : 2).[0m ×2 + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954270 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954270 ms (missed cycles : 3).[0m ×2 + 7.71sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223539 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223539 ms (missed cycles : 3).[0m ×2 + 8.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.691ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351247 ms (missed cycles : 3). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351247 ms (missed cycles : 3).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.542ms + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.471ms + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175060 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.175060 ms (missed cycles : 3).[0m ×2 + 10.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 11.05sINFOamclParticle filter update iteration stats: 3274 particles 723 points - 7.367ms + 11.59sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 4.156ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665358 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665358 ms (missed cycles : 3).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 2.517ms + 12.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516447 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516447 ms (missed cycles : 3).[0m ×2 + 13.30sWARNros2_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 + 13.32sWARNros2_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 ×6 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930842 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930842 ms (missed cycles : 2).[0m ×2 + 13.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.550ms + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586529 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586529 ms (missed cycles : 2).[0m ×2 + 15.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681163 ms (missed cycles : 2). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681163 ms (missed cycles : 2).[0m ×2 + 16.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 16.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940656 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940656 ms (missed cycles : 3).[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247903 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247903 ms (missed cycles : 2).[0m ×2 + 17.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671671 ms (missed cycles : 4). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.671671 ms (missed cycles : 4).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434176 ms (missed cycles : 3). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.434176 ms (missed cycles : 3).[0m ×2 + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.256ms + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354547 ms (missed cycles : 2). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354547 ms (missed cycles : 2).[0m ×2 + 21.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 22.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.212ms + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921711 ms (missed cycles : 3). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921711 ms (missed cycles : 3).[0m ×2 + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.798ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864098 ms (missed cycles : 3). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864098 ms (missed cycles : 3).[0m ×2 + 23.75sWARNros2_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 + 23.78sWARNros2_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 + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263727 ms (missed cycles : 2). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263727 ms (missed cycles : 2).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 24.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220104 ms (missed cycles : 2). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220104 ms (missed cycles : 2).[0m ×2 + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943345 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943345 ms (missed cycles : 2).[0m ×2 + 26.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497206 ms (missed cycles : 3). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497206 ms (missed cycles : 3).[0m ×2 + 27.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388241 ms (missed cycles : 3). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388241 ms (missed cycles : 3).[0m ×2 + 29.07sWARNros2_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 + 29.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×4 + 29.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.603ms + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656878 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656878 ms (missed cycles : 2).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.961ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.783ms + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985683 ms (missed cycles : 5). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.985683 ms (missed cycles : 5).[0m ×2 + 30.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 31.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 31.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989990 ms (missed cycles : 3). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989990 ms (missed cycles : 3).[0m ×2 + 32.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 32.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108942 ms (missed cycles : 4). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108942 ms (missed cycles : 4).[0m ×2 + 33.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348731 ms (missed cycles : 3). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348731 ms (missed cycles : 3).[0m ×2 + 34.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.815ms + 34.58sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.58sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843221 ms (missed cycles : 2). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843221 ms (missed cycles : 2).[0m ×2 + 35.23sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970498 ms (missed cycles : 3). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970498 ms (missed cycles : 3).[0m ×2 + 36.12sINFOobjective_server_nodePlanning for 15 path waypoints. ×6 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917877 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917877 ms (missed cycles : 2).[0m ×2 + 38.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439970 ms (missed cycles : 3). + 38.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439970 ms (missed cycles : 3).[0m ×2 + 38.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351112 ms (missed cycles : 2). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351112 ms (missed cycles : 2).[0m ×2 + 39.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 40.03sWARNros2_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 + 40.05sWARNros2_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 + 40.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538072 ms (missed cycles : 4). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538072 ms (missed cycles : 4).[0m ×2 + 40.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 41.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373210 ms (missed cycles : 3). + 41.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373210 ms (missed cycles : 3).[0m ×2 + 41.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.581ms + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213324 ms (missed cycles : 2).[0m ×2 + 42.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.790ms + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878889 ms (missed cycles : 3). + 43.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878889 ms (missed cycles : 3).[0m ×2 + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744732 ms (missed cycles : 4). + 44.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744732 ms (missed cycles : 4).[0m ×2 + 44.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909564 ms (missed cycles : 2). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909564 ms (missed cycles : 2).[0m ×2 + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100716 ms (missed cycles : 5). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100716 ms (missed cycles : 5).[0m ×2 + 46.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.513ms + 47.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993508 ms (missed cycles : 3). + 47.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993508 ms (missed cycles : 3).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085138 ms (missed cycles : 2). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085138 ms (missed cycles : 2).[0m ×2 + 48.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.351ms + 49.66sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565024 ms (missed cycles : 4). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565024 ms (missed cycles : 4).[0m ×2 + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654918 ms (missed cycles : 2). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654918 ms (missed cycles : 2).[0m ×2 + 51.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 51.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705079 ms (missed cycles : 3). + 51.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705079 ms (missed cycles : 3).[0m ×2 + 53.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427081 ms (missed cycles : 3). + 53.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427081 ms (missed cycles : 3).[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811355 ms (missed cycles : 2). + 54.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811355 ms (missed cycles : 2).[0m ×2 + 54.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.610ms + 54.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310287 ms (missed cycles : 3). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310287 ms (missed cycles : 3).[0m ×2 + 56.04sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 56.07sWARNros2_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 + 56.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 56.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707592 ms (missed cycles : 3). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707592 ms (missed cycles : 3).[0m ×2 + 57.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387119 ms (missed cycles : 4). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387119 ms (missed cycles : 4).[0m ×2 + 57.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.736ms + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587800 ms (missed cycles : 3). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587800 ms (missed cycles : 3).[0m ×2 + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639477 ms (missed cycles : 5). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639477 ms (missed cycles : 5).[0m ×2 + 59.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 60.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094768 ms (missed cycles : 2). + 60.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094768 ms (missed cycles : 2).[0m ×2 + 61.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846158 ms (missed cycles : 2). + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846158 ms (missed cycles : 2).[0m ×2 + 62.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224042 ms (missed cycles : 3). + 62.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224042 ms (missed cycles : 3).[0m ×2 + 63.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670039 ms (missed cycles : 2). + 63.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670039 ms (missed cycles : 2).[0m ×2 + 63.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 64.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962594 ms (missed cycles : 3). + 64.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962594 ms (missed cycles : 3).[0m ×2 + 65.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123384 ms (missed cycles : 4). + 65.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123384 ms (missed cycles : 4).[0m ×2 + 66.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.556ms + 66.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645983 ms (missed cycles : 2). + 66.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645983 ms (missed cycles : 2).[0m ×2 + 67.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.236ms + 67.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369514 ms (missed cycles : 2). + 67.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369514 ms (missed cycles : 2).[0m ×2 + 68.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 68.78sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789163194.53046155 seconds ×3 + 68.87sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.87sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 69.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040978 ms (missed cycles : 3). + 69.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040978 ms (missed cycles : 3).[0m ×2 + 69.07sWARNlocal_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 + 69.07sWARNlocal_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 + 69.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 69.32sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.36sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789163195.11373734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.898ms + 70.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602089 ms (missed cycles : 3). + 70.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602089 ms (missed cycles : 3).[0m ×2 + 71.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717782 ms (missed cycles : 2). + 71.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717782 ms (missed cycles : 2).[0m ×2 + 71.64sWARNros2_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 + 71.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 72.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 72.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 244 warnings · 202 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.51sINFOobjective_server_nodecaller: ×4 + 3.51sINFOobjective_server_nodetype: 0 ×4 + 3.51sINFOobjective_server_nodename: "" ×4 + 3.51sINFOobjective_server_nodeinstance_id: "" ×4 + 3.51sINFOobjective_server_node ×4 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.15sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.15sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288070 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288070 ms (missed cycles : 4).[0m ×2 + 8.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.902ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139475 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139475 ms (missed cycles : 2).[0m ×2 + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.952ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588109 ms (missed cycles : 5). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.588109 ms (missed cycles : 5).[0m ×2 + 9.97sWARNros2_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 + 9.99sWARNros2_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 + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.516ms + 10.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.477ms + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651479 ms (missed cycles : 4). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651479 ms (missed cycles : 4).[0m ×2 + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.583ms + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.161ms + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770592 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770592 ms (missed cycles : 2).[0m ×2 + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.193ms + 12.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769305 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769305 ms (missed cycles : 2).[0m ×2 + 13.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.609ms + 13.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.687ms + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284948 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.284948 ms (missed cycles : 2).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 4011 particles 723 points - 11.085ms + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721620 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721620 ms (missed cycles : 2).[0m ×2 + 15.15sINFOamclParticle filter update iteration stats: 2774 particles 723 points - 5.975ms + 15.73sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 3.830ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214277 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214277 ms (missed cycles : 2).[0m ×2 + 16.30sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.573ms + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.795ms + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275605 ms (missed cycles : 2).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.260ms ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656377 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656377 ms (missed cycles : 3).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 18.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398534 ms (missed cycles : 3). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398534 ms (missed cycles : 3).[0m ×2 + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 19.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751563 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751563 ms (missed cycles : 2).[0m ×2 + 20.43sWARNros2_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 + 20.45sWARNros2_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 + 20.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 21.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955132 ms (missed cycles : 3). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955132 ms (missed cycles : 3).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094095 ms (missed cycles : 3). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094095 ms (missed cycles : 3).[0m ×2 + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.234ms + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 23.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585914 ms (missed cycles : 3). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585914 ms (missed cycles : 3).[0m ×2 + 24.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540706 ms (missed cycles : 3). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540706 ms (missed cycles : 3).[0m ×2 + 25.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263978 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263978 ms (missed cycles : 2).[0m ×2 + 25.71sWARNros2_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 + 25.73sWARNros2_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 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 26.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.824ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128306 ms (missed cycles : 2). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128306 ms (missed cycles : 2).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.375ms + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.017ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455966 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455966 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.809ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500928 ms (missed cycles : 4). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500928 ms (missed cycles : 4).[0m ×2 + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.886ms + 29.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.120ms + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932345 ms (missed cycles : 3). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932345 ms (missed cycles : 3).[0m ×2 + 30.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 31.00sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 31.02sWARNros2_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 ×6 + 31.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820398 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820398 ms (missed cycles : 2).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954643 ms (missed cycles : 4). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954643 ms (missed cycles : 4).[0m ×2 + 32.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.861ms + 32.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817156 ms (missed cycles : 2). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817156 ms (missed cycles : 2).[0m ×2 + 33.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798437 ms (missed cycles : 4). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798437 ms (missed cycles : 4).[0m ×2 + 34.56sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.185ms + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130538 ms (missed cycles : 4). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130538 ms (missed cycles : 4).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487805 ms (missed cycles : 3). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487805 ms (missed cycles : 3).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672377 ms (missed cycles : 3). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672377 ms (missed cycles : 3).[0m ×2 + 38.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298306 ms (missed cycles : 5). + 38.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.298306 ms (missed cycles : 5).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340605 ms (missed cycles : 4). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.340605 ms (missed cycles : 4).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191667 ms (missed cycles : 4). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191667 ms (missed cycles : 4).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969056 ms (missed cycles : 3). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969056 ms (missed cycles : 3).[0m ×2 + 41.88sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 41.91sWARNros2_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 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.277529 ms (missed cycles : 5). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.277529 ms (missed cycles : 5).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732756 ms (missed cycles : 4). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732756 ms (missed cycles : 4).[0m ×2 + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824341 ms (missed cycles : 3). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824341 ms (missed cycles : 3).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752535 ms (missed cycles : 3). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752535 ms (missed cycles : 3).[0m ×2 + 47.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291614 ms (missed cycles : 5). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.291614 ms (missed cycles : 5).[0m ×2 + 47.27sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 47.29sWARNros2_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 + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251598 ms (missed cycles : 3). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251598 ms (missed cycles : 3).[0m ×2 + 49.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048240 ms (missed cycles : 2). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048240 ms (missed cycles : 2).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.894ms + 50.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184306 ms (missed cycles : 4). + 50.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.184306 ms (missed cycles : 4).[0m ×2 + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398924 ms (missed cycles : 5). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398924 ms (missed cycles : 5).[0m ×2 + 52.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980250 ms (missed cycles : 4). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.980250 ms (missed cycles : 4).[0m ×2 + 53.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950620 ms (missed cycles : 3). + 53.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950620 ms (missed cycles : 3).[0m ×2 + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393817 ms (missed cycles : 3). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393817 ms (missed cycles : 3).[0m ×2 + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875229 ms (missed cycles : 3). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875229 ms (missed cycles : 3).[0m ×2 + 55.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.490ms + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877408 ms (missed cycles : 2). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877408 ms (missed cycles : 2).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354453 ms (missed cycles : 2). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354453 ms (missed cycles : 2).[0m ×2 + 58.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047765 ms (missed cycles : 3). + 58.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047765 ms (missed cycles : 3).[0m ×2 + 59.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 60.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601759 ms (missed cycles : 4). + 60.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601759 ms (missed cycles : 4).[0m ×2 + 60.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789163258.14438748 seconds ×3 + 60.27sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.27sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 60.57sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.57sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.74sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789163258.72994065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.654ms + 61.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806615 ms (missed cycles : 2). + 61.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806615 ms (missed cycles : 2).[0m ×2 + 61.18sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). ×2 + 61.54sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 62.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566793 ms (missed cycles : 2). + 62.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566793 ms (missed cycles : 2).[0m ×2 + 63.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392434 ms (missed cycles : 3). + 63.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392434 ms (missed cycles : 3).[0m ×2 + 63.22sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.1s | 246 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775521 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775521 ms (missed cycles : 3).[0m ×2 + 1.43sWARNros2_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 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×4 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789778 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789778 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789162969.41616821 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981569 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981569 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789162969.99645615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 3.061ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986550 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986550 ms (missed cycles : 3).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644764 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644764 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.00sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.00sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698356 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698356 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504852 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504852 ms (missed cycles : 2).[0m ×2 + 7.34sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 7.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185849 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185849 ms (missed cycles : 2).[0m ×2 + 8.48sINFOamclParticle filter update iteration stats: 1988 particles 723 points - 3.191ms + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867951 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867951 ms (missed cycles : 2).[0m ×2 + 9.55sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 3.440ms + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.528ms + 10.28sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071030 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071030 ms (missed cycles : 4).[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 11.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.997ms + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150780 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150780 ms (missed cycles : 2).[0m ×2 + 11.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 12.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208068 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208068 ms (missed cycles : 2).[0m ×2 + 12.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 13.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908563 ms (missed cycles : 3). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908563 ms (missed cycles : 3).[0m ×2 + 14.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396116 ms (missed cycles : 4). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396116 ms (missed cycles : 4).[0m ×2 + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819052 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819052 ms (missed cycles : 2).[0m ×2 + 15.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186321 ms (missed cycles : 4). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186321 ms (missed cycles : 4).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621450 ms (missed cycles : 2). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621450 ms (missed cycles : 2).[0m ×2 + 18.02sWARNros2_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 ×10 + 18.04sWARNros2_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 ×8 + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 18.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475337 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475337 ms (missed cycles : 3).[0m ×2 + 19.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.198ms + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194306 ms (missed cycles : 3). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194306 ms (missed cycles : 3).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578128 ms (missed cycles : 4). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578128 ms (missed cycles : 4).[0m ×2 + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458556 ms (missed cycles : 3). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.458556 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642310 ms (missed cycles : 5). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642310 ms (missed cycles : 5).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 23.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.931ms + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772851 ms (missed cycles : 5). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.772851 ms (missed cycles : 5).[0m ×2 + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632764 ms (missed cycles : 3). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632764 ms (missed cycles : 3).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 26.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736745 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736745 ms (missed cycles : 2).[0m ×2 + 26.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970642 ms (missed cycles : 2). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970642 ms (missed cycles : 2).[0m ×2 + 27.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.585ms + 28.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×8 + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702696 ms (missed cycles : 3). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702696 ms (missed cycles : 3).[0m ×2 + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013488 ms (missed cycles : 2). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013488 ms (missed cycles : 2).[0m ×2 + 29.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.171ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750729 ms (missed cycles : 5). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.750729 ms (missed cycles : 5).[0m ×2 + 30.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.927ms + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266509 ms (missed cycles : 2). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266509 ms (missed cycles : 2).[0m ×2 + 32.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.702ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664252 ms (missed cycles : 3). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664252 ms (missed cycles : 3).[0m ×2 + 33.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 33.82sWARNros2_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 + 33.83sWARNros2_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 + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147978 ms (missed cycles : 2). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147978 ms (missed cycles : 2).[0m ×2 + 34.41sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581233 ms (missed cycles : 5). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.581233 ms (missed cycles : 5).[0m ×2 + 36.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997568 ms (missed cycles : 2). + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997568 ms (missed cycles : 2).[0m ×2 + 37.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769642 ms (missed cycles : 3). + 37.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769642 ms (missed cycles : 3).[0m ×2 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785607 ms (missed cycles : 5). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.785607 ms (missed cycles : 5).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754335 ms (missed cycles : 3). + 39.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754335 ms (missed cycles : 3).[0m ×2 + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915440 ms (missed cycles : 3). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915440 ms (missed cycles : 3).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110983 ms (missed cycles : 3). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110983 ms (missed cycles : 3).[0m ×2 + 41.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.190ms + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988369 ms (missed cycles : 4). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988369 ms (missed cycles : 4).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060783 ms (missed cycles : 4). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060783 ms (missed cycles : 4).[0m ×2 + 44.43sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688586 ms (missed cycles : 4). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.688586 ms (missed cycles : 4).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504723 ms (missed cycles : 4). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504723 ms (missed cycles : 4).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793878 ms (missed cycles : 3). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793878 ms (missed cycles : 3).[0m ×2 + 47.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085441 ms (missed cycles : 5). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.085441 ms (missed cycles : 5).[0m ×2 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850881 ms (missed cycles : 5). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850881 ms (missed cycles : 5).[0m ×2 + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530784 ms (missed cycles : 4). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530784 ms (missed cycles : 4).[0m ×2 + 51.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199389 ms (missed cycles : 4). + 51.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199389 ms (missed cycles : 4).[0m ×2 + 52.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.563ms + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093513 ms (missed cycles : 4). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093513 ms (missed cycles : 4).[0m ×2 + 53.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820247 ms (missed cycles : 2). + 53.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820247 ms (missed cycles : 2).[0m ×2 + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954682 ms (missed cycles : 4). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.954682 ms (missed cycles : 4).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537369 ms (missed cycles : 4). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537369 ms (missed cycles : 4).[0m ×2 + 55.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391158 ms (missed cycles : 2). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391158 ms (missed cycles : 2).[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2).[0m ×2 + 58.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2). + 58.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2).[0m ×2 + 59.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3). + 59.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3).[0m ×2 + 59.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 60.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789163026.50657845 seconds ×3 + 60.12sWARNlocal_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 + 60.12sWARNlocal_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 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.52sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2). + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2).[0m ×2 + 60.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 60.56sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789163027.09715033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 61.01sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 61.34sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3). + 61.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3).[0m ×2 + 62.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2). + 62.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.5s | 235 warnings · 221 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms ×2 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3).[0m ×2 + 1.12sWARNros2_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 + 1.14sWARNros2_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 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.70sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789163065.47452331 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.80) 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 (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.26sINFOobjective_server_nodecaller: ×4 + 3.26sINFOobjective_server_nodetype: 0 ×4 + 3.26sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789163066.04784775 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 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.340ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×6 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025949 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025949 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226139 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226139 ms (missed cycles : 4).[0m ×2 + 8.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.555ms + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.164ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475367 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475367 ms (missed cycles : 3).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.111ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.163ms + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998234 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998234 ms (missed cycles : 2).[0m ×2 + 10.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.276ms + 11.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.700ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179451 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179451 ms (missed cycles : 2).[0m ×2 + 12.00sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×10 + 12.02sWARNros2_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 ×4 + 12.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.432ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296009 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296009 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.237ms + 13.74sINFOamclParticle filter update iteration stats: 4601 particles 723 points - 7.262ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175755 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175755 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 5.837ms + 14.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 4.309ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684023 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684023 ms (missed cycles : 3).[0m ×2 + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.820ms + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763918 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763918 ms (missed cycles : 3).[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705131 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705131 ms (missed cycles : 2).[0m ×2 + 17.18sWARNros2_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 ×8 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 17.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160172 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160172 ms (missed cycles : 2).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 18.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870085 ms (missed cycles : 3). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870085 ms (missed cycles : 3).[0m ×2 + 19.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 20.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628975 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628975 ms (missed cycles : 3).[0m ×2 + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 21.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 21.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044986 ms (missed cycles : 3). + 21.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044986 ms (missed cycles : 3).[0m ×2 + 21.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707847 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707847 ms (missed cycles : 2).[0m ×2 + 22.40sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630156 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630156 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 24.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711866 ms (missed cycles : 3). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711866 ms (missed cycles : 3).[0m ×2 + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365983 ms (missed cycles : 4). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.365983 ms (missed cycles : 4).[0m ×2 + 25.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 26.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078180 ms (missed cycles : 2). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078180 ms (missed cycles : 2).[0m ×2 + 26.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.446ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319982 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319982 ms (missed cycles : 2).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683528 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683528 ms (missed cycles : 3).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.088ms + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769524 ms (missed cycles : 2). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769524 ms (missed cycles : 2).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.835ms + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122235 ms (missed cycles : 2). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122235 ms (missed cycles : 2).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626891 ms (missed cycles : 5). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.626891 ms (missed cycles : 5).[0m ×2 + 31.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.070ms + 32.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792541 ms (missed cycles : 3). + 32.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792541 ms (missed cycles : 3).[0m ×2 + 33.04sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 33.06sWARNros2_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 + 33.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168120 ms (missed cycles : 3). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168120 ms (missed cycles : 3).[0m ×2 + 34.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.116ms + 35.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786409 ms (missed cycles : 3). + 35.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786409 ms (missed cycles : 3).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309971 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309971 ms (missed cycles : 2).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131779 ms (missed cycles : 5). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131779 ms (missed cycles : 5).[0m ×2 + 37.62sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582113 ms (missed cycles : 3). + 38.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582113 ms (missed cycles : 3).[0m ×2 + 38.64sINFOobjective_server_nodePlanning for 25 path waypoints. ×3 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217854 ms (missed cycles : 3). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217854 ms (missed cycles : 3).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609333 ms (missed cycles : 3). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609333 ms (missed cycles : 3).[0m ×2 + 41.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.564ms + 41.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001793 ms (missed cycles : 5). + 41.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001793 ms (missed cycles : 5).[0m ×2 + 41.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 42.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 42.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780994 ms (missed cycles : 3). + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780994 ms (missed cycles : 3).[0m ×2 + 42.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.575ms + 43.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 43.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751708 ms (missed cycles : 4). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751708 ms (missed cycles : 4).[0m ×2 + 44.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346362 ms (missed cycles : 3). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346362 ms (missed cycles : 3).[0m ×2 + 46.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355226 ms (missed cycles : 3). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355226 ms (missed cycles : 3).[0m ×2 + 47.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.983ms + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017726 ms (missed cycles : 3). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017726 ms (missed cycles : 3).[0m ×2 + 47.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.254ms + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733498 ms (missed cycles : 3). + 48.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733498 ms (missed cycles : 3).[0m ×2 + 48.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.014ms + 48.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068380 ms (missed cycles : 4). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.068380 ms (missed cycles : 4).[0m ×2 + 49.38sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 49.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 50.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 50.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000751 ms (missed cycles : 2). + 50.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000751 ms (missed cycles : 2).[0m ×2 + 51.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 51.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762363 ms (missed cycles : 3). + 51.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762363 ms (missed cycles : 3).[0m ×2 + 52.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909227 ms (missed cycles : 3). + 52.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909227 ms (missed cycles : 3).[0m ×2 + 53.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 53.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460850 ms (missed cycles : 4). + 53.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460850 ms (missed cycles : 4).[0m ×2 + 54.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778144 ms (missed cycles : 3). + 54.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778144 ms (missed cycles : 3).[0m ×2 + 55.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789163117.95798302 seconds ×3 + 55.27sWARNlocal_costmap.local_costmapSensor origin at (-2.09, 11.41) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.27sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 11.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 55.37sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.37sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 55.75sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675052 ms (missed cycles : 3). + 55.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675052 ms (missed cycles : 3).[0m ×2 + 55.79sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789163118.53969431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.464ms + 56.21sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173773 ms (missed cycles : 3). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173773 ms (missed cycles : 3).[0m ×2 + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677286 ms (missed cycles : 2). + 57.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677286 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 177 warnings · 382 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.91sINFOobjective_server_nodecaller: ×12 + 0.91sINFOobjective_server_nodetype: 0 ×12 + 0.91sINFOobjective_server_nodename: "" ×12 + 0.91sINFOobjective_server_nodeinstance_id: "" ×12 + 0.91sINFOobjective_server_node ×12 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_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 ×8 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×6 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281667 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281667 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135376 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135376 ms (missed cycles : 3).[0m ×2 + 8.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767539 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767539 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115935 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115935 ms (missed cycles : 2).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800750 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800750 ms (missed cycles : 2).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037110 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037110 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890372 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890372 ms (missed cycles : 3).[0m ×2 + 13.59sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044469 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044469 ms (missed cycles : 2).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.753ms + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169280 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169280 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537693 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537693 ms (missed cycles : 3).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362224 ms (missed cycles : 3). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362224 ms (missed cycles : 3).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249679 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249679 ms (missed cycles : 2).[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244118 ms (missed cycles : 2). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244118 ms (missed cycles : 2).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315452 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315452 ms (missed cycles : 3).[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525470 ms (missed cycles : 3). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525470 ms (missed cycles : 3).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768011 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.768011 ms (missed cycles : 3).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204045 ms (missed cycles : 3). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204045 ms (missed cycles : 3).[0m ×2 + 24.33sWARNros2_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 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710428 ms (missed cycles : 3). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710428 ms (missed cycles : 3).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509046 ms (missed cycles : 3). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509046 ms (missed cycles : 3).[0m ×2 + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185966 ms (missed cycles : 2). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185966 ms (missed cycles : 2).[0m ×2 + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433765 ms (missed cycles : 3). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433765 ms (missed cycles : 3).[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855476 ms (missed cycles : 2). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855476 ms (missed cycles : 2).[0m ×2 + 30.31sWARNros2_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 ×6 + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443239 ms (missed cycles : 3). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443239 ms (missed cycles : 3).[0m ×2 + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883180 ms (missed cycles : 3). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883180 ms (missed cycles : 3).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759185 ms (missed cycles : 3). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759185 ms (missed cycles : 3).[0m ×2 + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232832 ms (missed cycles : 3). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232832 ms (missed cycles : 3).[0m ×2 + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443000 ms (missed cycles : 2). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443000 ms (missed cycles : 2).[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383613 ms (missed cycles : 3). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383613 ms (missed cycles : 3).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232682 ms (missed cycles : 2). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232682 ms (missed cycles : 2).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218025 ms (missed cycles : 2). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218025 ms (missed cycles : 2).[0m ×2 + 38.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369870 ms (missed cycles : 3). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369870 ms (missed cycles : 3).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226289 ms (missed cycles : 2). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226289 ms (missed cycles : 2).[0m ×2 + 40.41sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 40.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 41.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011694 ms (missed cycles : 2). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011694 ms (missed cycles : 2).[0m ×2 + 42.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396238 ms (missed cycles : 2). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396238 ms (missed cycles : 2).[0m ×2 + 43.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.180ms + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970536 ms (missed cycles : 3). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970536 ms (missed cycles : 3).[0m ×2 + 44.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3). + 44.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3).[0m ×2 + 45.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2). + 45.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2).[0m ×2 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3).[0m ×2 + 46.54sINFOjoint_trajectory_controllerGoal reached, success! + 46.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789162963.34983993 seconds ×3 + 46.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.12sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.17sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789162963.93602443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 47.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3).[0m ×2 + 48.19sINFOobjective_server_nodeFound path in 0 iterations (2.371e-05 s). ×2 + 48.26sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 152 warnings · 184 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785603 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785603 ms (missed cycles : 2).[0m ×2 + 0.95sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395970 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395970 ms (missed cycles : 3).[0m ×2 + 1.51sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.51sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.55sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789163032.90729356 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780628 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780628 ms (missed cycles : 3).[0m ×2 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.10sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.10sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.10sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.10sINFOobjective_server_nodecaller: ×4 + 3.10sINFOobjective_server_nodetype: 0 ×4 + 3.10sINFOobjective_server_nodename: "" ×4 + 3.10sINFOobjective_server_nodeinstance_id: "" ×4 + 3.10sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789163034.49439216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380299 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380299 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850170 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850170 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235490 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235490 ms (missed cycles : 2).[0m ×2 + 5.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983220 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983220 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.49sWARNros2_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 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726704 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726704 ms (missed cycles : 2).[0m ×2 + 8.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.582ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169891 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169891 ms (missed cycles : 2).[0m ×2 + 9.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.649ms + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816524 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816524 ms (missed cycles : 3).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.863ms + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.724ms + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703841 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703841 ms (missed cycles : 3).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.208ms + 11.47sWARNros2_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 + 11.50sWARNros2_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 + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.888ms + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962336 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962336 ms (missed cycles : 2).[0m ×2 + 12.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.643ms + 12.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.963ms + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086485 ms (missed cycles : 2). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086485 ms (missed cycles : 2).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 4962 particles 723 points - 7.516ms + 13.79sINFOamclParticle filter update iteration stats: 3835 particles 723 points - 9.449ms + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791873 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791873 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 2617 particles 723 points - 5.065ms + 14.97sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.514ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544773 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544773 ms (missed cycles : 3).[0m ×2 + 15.53sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 2.304ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700095 ms (missed cycles : 6). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.700095 ms (missed cycles : 6).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 16.71sWARNros2_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 ×8 + 16.73sWARNros2_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 + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769250 ms (missed cycles : 3). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769250 ms (missed cycles : 3).[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159003 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159003 ms (missed cycles : 2).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 19.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.170ms + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061355 ms (missed cycles : 3). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061355 ms (missed cycles : 3).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184120 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184120 ms (missed cycles : 2).[0m ×2 + 20.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 21.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450674 ms (missed cycles : 2). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450674 ms (missed cycles : 2).[0m ×2 + 22.01sWARNros2_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 ×6 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854509 ms (missed cycles : 3). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854509 ms (missed cycles : 3).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.022ms + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499170 ms (missed cycles : 3). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499170 ms (missed cycles : 3).[0m ×2 + 24.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 24.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385999 ms (missed cycles : 3). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385999 ms (missed cycles : 3).[0m ×2 + 25.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653093 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653093 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135011 ms (missed cycles : 5). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135011 ms (missed cycles : 5).[0m ×2 + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.419ms + 27.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 28.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872973 ms (missed cycles : 2). + 28.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872973 ms (missed cycles : 2).[0m ×2 + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981264 ms (missed cycles : 5). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981264 ms (missed cycles : 5).[0m ×2 + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008838 ms (missed cycles : 4). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008838 ms (missed cycles : 4).[0m ×2 + 30.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 31.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3). + 31.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3).[0m ×2 + 31.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 32.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3).[0m ×2 + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2).[0m ×2 + 33.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 34.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789163065.47452331 seconds ×3 + 34.17sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.80) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.17sWARNlocal_costmap.local_costmapSensor origin at (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.37sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.37sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2).[0m ×2 + 34.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 34.66sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.69sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789163066.04784775 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.340ms + 35.06sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2).[0m ×2 + 37.88sWARNros2_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 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 16.2s | 99 warnings · 240 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354453 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354453 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.54sWARNros2_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 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047765 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047765 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601759 ms (missed cycles : 4). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601759 ms (missed cycles : 4).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.62sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789163258.14438748 seconds ×3 + 2.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.71sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.01sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Move Forward 2m"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789163258.72994065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.654ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806615 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806615 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566793 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566793 ms (missed cycles : 2).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392434 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392434 ms (missed cycles : 3).[0m ×2 + 5.65sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421680 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421680 ms (missed cycles : 3).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244708 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244708 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200060 ms (missed cycles : 4). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200060 ms (missed cycles : 4).[0m ×2 + 9.68sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516120 ms (missed cycles : 4). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516120 ms (missed cycles : 4).[0m ×2 + 10.05sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 10.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.43sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 10.71sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 10.73sWARNros2_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 ×6 + 10.78sINFOobjective_server_nodeFound path in 33 iterations (0.0311103 s). ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798521 ms (missed cycles : 4). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798521 ms (missed cycles : 4).[0m ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128943 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128943 ms (missed cycles : 2).[0m ×2 + 12.62sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 12.85sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767618 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767618 ms (missed cycles : 2).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487396 ms (missed cycles : 2). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487396 ms (missed cycles : 2).[0m ×2 + 15.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.032ms + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303925 ms (missed cycles : 4). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.303925 ms (missed cycles : 4).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.338ms + 16.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.553ms + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3).[0m ×2 + 18.86sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789163274.36422086 seconds ×3 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4). + 19.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4).[0m ×2 + 19.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.39sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163274.97147965 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 + 19.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.479ms + 19.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163275.49160671 seconds ×3 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2).[0m ×2 + 20.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 20.53sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163276.06956530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163276.53968358 seconds ×3 + 21.13sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 21.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2). + 21.87sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2).[0m ×2 + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 104 errors · 38 warnings · 516 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4).[0m ×2 + 1.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.553ms + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3).[0m ×2 + 2.01sINFOjoint_trajectory_controllerGoal reached, success! + 2.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.03sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789163274.36422086 seconds ×3 + 2.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.57sINFOobjective_server_nodecaller: ×4 + 2.57sINFOobjective_server_nodetype: 0 ×4 + 2.57sINFOobjective_server_nodename: "" ×4 + 2.57sINFOobjective_server_nodeinstance_id: "" ×4 + 2.57sINFOobjective_server_node ×4 + 2.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163274.97147965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.64sINFOmove_groupClearing octomap...[0m ×2 + 2.64sINFOmove_groupOctomap cleared.[0m ×2 + 2.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.479ms + 3.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163275.49160671 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163276.06956530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163276.53968358 seconds ×3 + 4.31sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 4.33sWARNros2_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 + 4.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2). + 5.04sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989559 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989559 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800634 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800634 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713774 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713774 ms (missed cycles : 2).[0m ×2 + 9.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094342 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094342 ms (missed cycles : 2).[0m ×2 + 10.04sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 10.06sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORweb_video_auth_proxy-38process has died [pid 7817, 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 + 10.06sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.06sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 10.07sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORweb_bridge_auth_proxy-37process has died [pid 7816, 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 + 10.07sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.07sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.08sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 10.10sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.11sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.12sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.13sINFOvideo_server-36process has finished cleanly [pid 7815] ×2 + 10.13sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.14sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.15sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.16sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.16sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.17sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.18sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.20sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.21sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.22sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.23sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.23sINFOcontroller_managerShutdown request received.... + 10.23sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.23sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.23sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.23sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.23sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.23sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.23sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.23sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.23sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.23sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.23sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.23sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.24sINFOcontroller_managerShutting down the controller manager. + 10.24sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.25sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.26sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.26sERRORmove_group-24process has died [pid 7747, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_ldnj8kly --params-file /tmp/launch_params_umz7cfib --params-file /tmp/launch_params_si672knv --params-file /tmp/launch_params_dt82lc3e --params-file /tmp/launch_params_jump4j5t --params-file /tmp/launch_params_zr12uj0v']. ×2 + 10.27sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.28sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.29sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.30sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.31sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.31sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.41sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.41sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.41sINFOmap_serverDeactivating + 10.41sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.42sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.42sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.42sINFOcontroller_serverDeactivating + 10.42sINFOlocal_costmap.local_costmapDeactivating + 10.42sINFOvideo_server2026/09/11 21:48:02 INF shutting down gracefully ×2 + 10.42sINFOvideo_server2026/09/11 21:48:02 INF [WebRTC] closing ×2 + 10.42sINFOvideo_server2026/09/11 21:48:02 INF [RTSP] closing ×2 + 10.42sINFOvideo_server2026/09/11 21:48:02 INF waiting for running hooks ×2 + 10.42sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.42sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.42sINFOmap_serverCleaning up + 10.42sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.42sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.42sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.42sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.42sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.42sERRORmove_groupStack trace (most recent call last) in thread 8422: ×2 + 10.42sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.42sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7151dc5a63, in __clone ×2 + 10.42sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7151d38aa3, in ×2 + 10.42sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7151fcadb3, in ×2 + 10.42sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f715272eb34, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.42sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f715235c620, in rclcpp::Rate::sleep() ×2 + 10.42sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f715229ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.42sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7152260087, in ×2 + 10.42sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7151f99390, in __cxa_throw ×2 + 10.42sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7151f83a54, in std::terminate() ×2 + 10.42sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7151f990d9, in ×2 + 10.42sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7151f83ff4, in ×2 + 10.42sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7151cc48fe, in abort ×2 + 10.42sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7151ce127d, in raise ×2 + 10.42sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7151d3ab2c, in pthread_kill ×2 + 10.42sERRORmove_groupAborted (Signal sent by tkill() 7747 0) ×2 + 10.42sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.42sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.42sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.42sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.42sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.42sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.42sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.42sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.42sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.42sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.43sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.43sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.43sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.43sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.43sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.43sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.43sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.43sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.43sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.43sINFOodom_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 + 10.43sINFOodom_qos_relay.pymain() ×2 + 10.43sINFOodom_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 + 10.43sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.43sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.43sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.43sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.43sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.43sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.43sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.43sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.43sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.43sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.44sERRORamclThe bond connection to the lifecycle manager has been broken + 10.45sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.45sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.45sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.49sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.50sINFOcontroller_serverCleaning up + 10.50sINFOlocal_costmap.local_costmapCleaning up + 10.53sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.53sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.53sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.53sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.53sINFOvelocity_smootherDeactivating + 10.53sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 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 + 10.57sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.57sINFOplanner_serverDeactivating + 10.57sINFOglobal_costmap.global_costmapDeactivating + 10.65sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.65sINFOwaypoint_followerDeactivating + 10.65sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.76sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.76sINFObt_navigatorDeactivating + 10.76sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.87sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.87sINFObehavior_serverDeactivating + 10.87sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.99sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.99sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.99sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.99sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.99sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.99sINFOvelocity_smootherCleaning up + 10.99sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.99sINFOwaypoint_followerCleaning up + 11.02sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.02sINFObt_navigatorCleaning up + 11.10sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.10sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.11sINFOplanner_serverCleaning up + 11.13sINFOglobal_costmap.global_costmapCleaning up + 11.14sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.14sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.17sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7806] ×2 + 11.17sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 11.17sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.17sINFObehavior_serverCleaning up + 11.18sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.18sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.18sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.18sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.20sINFObt_navigatorCompleted Cleaning up + 11.20sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.23sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7796] ×2 + 11.24sINFOui_teleop_bridge-33process has finished cleanly [pid 7802] ×2 + 11.24sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7795] ×2 + 11.26sINFOexecute_objective_bridge-32process has finished cleanly [pid 7801] ×2 + 11.26sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.26sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.26sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.26sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.26sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.27sINFOcomponent_container_mt-31process has finished cleanly [pid 7800] ×2 + 11.28sINFOparameter_manager_node-25process has finished cleanly [pid 7793] ×2 + 11.29sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7726] ×2 + 11.30sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7725] ×2 + 11.30sINFOwaypoint_manager_node-26process has finished cleanly [pid 7794] ×2 + 11.31sINFOstatic_transform_publisher-9process has finished cleanly [pid 7643] ×2 + 11.32sINFOstatic_transform_publisher-8process has finished cleanly [pid 7642] ×2 + 11.33sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.33sINFOlidar_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 + 11.33sINFOlidar_flattener.pymain() ×2 + 11.33sINFOlidar_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 + 11.33sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.33sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.33sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.33sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.33sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.33sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.33sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.33sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.33sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.34sINFOobjective_server_node[2026-09-11 21:48:03.673] [moveit_pro_license] [critical] ×2 + 11.34sINFOobjective_server_node************************************************* ×4 + 11.34sINFOobjective_server_node* MoveIt Pro License ×2 + 11.34sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.35sINFOstatic_transform_publisher-4process has finished cleanly [pid 7638] ×2 + 11.36sINFOstatic_transform_publisher-3process has finished cleanly [pid 7637] ×2 + 11.38sERRORlidar_flattener.py-7process has died [pid 7641, 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_2vqq4yc9']. ×2 + 11.39sERRORodom_qos_relay.py-5process has died [pid 7639, 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 + 11.40sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7640] ×2 + 11.41sINFOobjective_server_node_main-29process has finished cleanly [pid 7798] ×2 + 11.41sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 11.53sERRORcomponent_container_isolated-1process has died [pid 7635, 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_cjejsb2t --params-file /tmp/launch_params_rvd156fo -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.35sINFOcomponent_container_mt-30process has finished cleanly [pid 7799] ×2 + 12.75sERRORcomponent_container_isolated-2process has died [pid 7636, 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_cjejsb2t --params-file /tmp/launch_params_w_0qu71q -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.98sINFOros2_control_node-12process has finished cleanly [pid 7727] ×2 + 13.04sINFOweb_bridge-34process has finished cleanly [pid 7805] ×2 + 13.04sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 88 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909227 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909227 ms (missed cycles : 3).[0m ×2 + 0.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.010ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460850 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460850 ms (missed cycles : 4).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778144 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778144 ms (missed cycles : 3).[0m ×2 + 2.23sWARNros2_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 + 2.25sWARNros2_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 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789163117.95798302 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.09, 11.41) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.83, 11.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.31) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.89sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface - Loop"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.27sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.27sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.27sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.27sINFOobjective_server_nodecaller: ×4 + 3.27sINFOobjective_server_nodetype: 0 ×4 + 3.27sINFOobjective_server_nodename: "" ×4 + 3.27sINFOobjective_server_nodeinstance_id: "" ×4 + 3.27sINFOobjective_server_node ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675052 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675052 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789163118.53969431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.464ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173773 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173773 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677286 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677286 ms (missed cycles : 2).[0m ×2 + 5.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847610 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847610 ms (missed cycles : 2).[0m ×2 + 7.28sWARNros2_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 + 7.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385173 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385173 ms (missed cycles : 3).[0m ×2 + 8.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.239ms + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397083 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397083 ms (missed cycles : 4).[0m ×2 + 9.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.856ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824868 ms (missed cycles : 3). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824868 ms (missed cycles : 3).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.172ms + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.063ms + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164929 ms (missed cycles : 4). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164929 ms (missed cycles : 4).[0m ×2 + 11.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.595ms + 11.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.798ms + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989932 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989932 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.427ms + 12.73sWARNros2_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 + 12.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.666ms + 13.33sINFOamclParticle filter update iteration stats: 4590 particles 723 points - 7.179ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286942 ms (missed cycles : 3). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.286942 ms (missed cycles : 3).[0m ×2 + 13.48sINFOobjective_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 + 13.49sINFOjoint_trajectory_controllerGot request to cancel goal + 13.49sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.49sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.49sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.53sERRORobjective_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: 1789163128.76022434 seconds ×3 + 13.69sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 2.72) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.69sWARNlocal_costmap.local_costmapSensor origin at (-1.37, 2.74) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.89sWARNlocal_costmap.local_costmapSensor origin at (-0.56, 3.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.89sWARNlocal_costmap.local_costmapSensor origin at (-1.46, 3.02) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 13.90sINFOamclParticle filter update iteration stats: 3180 particles 723 points - 6.116ms + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface 3 Passes"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.11sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789163129.34030867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501373 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501373 ms (missed cycles : 2).[0m ×2 + 14.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 14.50sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853833 ms (missed cycles : 3). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853833 ms (missed cycles : 3).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716942 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716942 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 7.4s | 65 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789163026.50657845 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.68sWARNlocal_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 + 2.68sWARNlocal_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 + 2.97sWARNros2_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 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.12sINFOobjective_server_nodecaller: ×4 + 3.12sINFOobjective_server_nodetype: 0 ×4 + 3.12sINFOobjective_server_nodename: "" ×4 + 3.12sINFOobjective_server_nodeinstance_id: "" ×4 + 3.12sINFOobjective_server_node ×4 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789163027.09715033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348474 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348474 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785603 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785603 ms (missed cycles : 2).[0m ×2 + 8.36sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395970 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395970 ms (missed cycles : 3).[0m ×2 + 8.96sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789163032.90729356 seconds ×3 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780628 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.780628 ms (missed cycles : 3).[0m ×2 + 10.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Look at Plane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.51sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.55sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789163034.49439216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380299 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380299 ms (missed cycles : 2).[0m ×2 + 10.94sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850170 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850170 ms (missed cycles : 3).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235490 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235490 ms (missed cycles : 2).[0m ×2 + 12.84sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 6.4s | 65 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123384 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123384 ms (missed cycles : 4).[0m ×2 + 0.89sWARNros2_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 + 0.91sWARNros2_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 + 0.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.556ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645983 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645983 ms (missed cycles : 2).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.236ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369514 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369514 ms (missed cycles : 2).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 3.05sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.05sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789163194.53046155 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 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOcontroller_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 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.27) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.16sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040978 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040978 ms (missed cycles : 3).[0m ×2 + 3.36sWARNlocal_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 + 3.36sWARNlocal_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 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Point-to-Point Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789163195.11373734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.898ms + 4.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602089 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602089 ms (missed cycles : 3).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717782 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717782 ms (missed cycles : 2).[0m ×2 + 5.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.96sWARNros2_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 ×4 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 9.45sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 9.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.99sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.03sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.41sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 12.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 6.1s | 44 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2).[0m ×2 + 1.53sWARNros2_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 + 2.08sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789162963.34983993 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.86sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.86sINFOobjective_server_nodecaller: ×4 + 2.86sINFOobjective_server_nodetype: 0 ×4 + 2.86sINFOobjective_server_nodename: "" ×4 + 2.86sINFOobjective_server_nodeinstance_id: "" ×4 + 2.86sINFOobjective_server_node ×4 + 2.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789162963.93602443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.371e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 6.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775521 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775521 ms (missed cycles : 3).[0m ×2 + 6.89sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 7.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789778 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789778 ms (missed cycles : 3).[0m ×2 + 8.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 8.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789162969.41616821 seconds ×3 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981569 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981569 ms (missed cycles : 2).[0m ×2 + 8.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.92sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789162969.99645615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.12sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 3.061ms + 9.35sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986550 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986550 ms (missed cycles : 3).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644764 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644764 ms (missed cycles : 2).[0m ×2 + 11.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698356 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698356 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 29 warnings · 118 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 ×4 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.338ms + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.553ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789163274.36422086 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163274.97147965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.75sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.479ms + 4.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163275.49160671 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163276.06956530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163276.53968358 seconds ×3 + 5.42sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2). + 6.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989559 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989559 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789163026.50657845 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sWARNlocal_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 + 2.68sWARNlocal_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 + 2.97sWARNros2_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 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789163027.09715033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.91sINFOjoint_trajectory_controllerReceived new action goal + 3.91sINFOjoint_trajectory_controllerAccepted new action goal + 3.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2).[0m ×2 + 1.53sWARNros2_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 + 2.08sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789162963.34983993 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789162963.93602443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.371e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOjoint_trajectory_controllerReceived new action goal + 4.03sINFOjoint_trajectory_controllerAccepted new action goal + 4.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617487 ms (missed cycles : 3).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147808 ms (missed cycles : 2).[0m ×2 + 1.53sWARNros2_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 + 2.08sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623469 ms (missed cycles : 3).[0m ×2 + 2.28sINFOjoint_trajectory_controllerGoal reached, success! + 2.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789162963.34983993 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Compute IK, Plan and Move"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.86sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.86sINFOobjective_server_nodecaller: ×2 + 2.86sINFOobjective_server_nodetype: 0 ×2 + 2.86sINFOobjective_server_nodename: "" ×2 + 2.86sINFOobjective_server_nodeinstance_id: "" ×2 + 2.86sINFOobjective_server_node ×2 + 2.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789162963.93602443 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.715ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587931 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.371e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOjoint_trajectory_controllerReceived new action goal + 4.03sINFOjoint_trajectory_controllerAccepted new action goal + 4.03sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.03sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991657 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.00sINFOmove_groupClearing octomap...[0m ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.43sWARNros2_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 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 1.997826 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997826 ms (missed cycles : 2).[0m ×2 + 0.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 0.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775521 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775521 ms (missed cycles : 3).[0m ×2 + 1.43sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 2.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789778 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789778 ms (missed cycles : 3).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.047ms + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789162969.41616821 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981569 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981569 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Generate Grid Pattern on Airplane"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789162969.99645615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 3.061ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986550 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986550 ms (missed cycles : 3).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644764 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644764 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.00sINFOjoint_trajectory_controllerReceived new action goal + 6.00sINFOjoint_trajectory_controllerAccepted new action goal + 6.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698356 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789163026.50657845 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sWARNlocal_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 + 2.68sWARNlocal_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 + 2.97sWARNros2_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 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789163027.09715033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.91sINFOjoint_trajectory_controllerReceived new action goal + 3.91sINFOjoint_trajectory_controllerAccepted new action goal + 3.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789163026.50657845 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sWARNlocal_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 + 2.68sWARNlocal_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 + 2.97sWARNros2_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 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789163027.09715033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.91sINFOjoint_trajectory_controllerReceived new action goal + 3.91sINFOjoint_trajectory_controllerAccepted new action goal + 3.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789163026.50657845 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sWARNlocal_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 + 2.68sWARNlocal_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 + 2.97sWARNros2_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 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789163027.09715033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.91sINFOjoint_trajectory_controllerReceived new action goal + 3.91sINFOjoint_trajectory_controllerAccepted new action goal + 3.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 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 | 40 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529345 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972075 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547651 ms (missed cycles : 3).[0m ×2 + 2.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.595ms + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789163026.50657845 seconds ×3 + 2.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.68sWARNlocal_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 + 2.68sWARNlocal_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 + 2.97sWARNros2_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 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.765843 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move to Arm Upright"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.12sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.12sINFOobjective_server_nodecaller: ×2 + 3.12sINFOobjective_server_nodetype: 0 ×2 + 3.12sINFOobjective_server_nodename: "" ×2 + 3.12sINFOobjective_server_nodeinstance_id: "" ×2 + 3.12sINFOobjective_server_node ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789163027.09715033 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 3.91sINFOjoint_trajectory_controllerReceived new action goal + 3.91sINFOjoint_trajectory_controllerAccepted new action goal + 3.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445086 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740933 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 41 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3).[0m ×2 + 1.12sWARNros2_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 + 1.14sWARNros2_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 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789163065.47452331 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.80) 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 (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789163066.04784775 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 ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.340ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 41 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3).[0m ×2 + 1.12sWARNros2_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 + 1.14sWARNros2_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 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789163065.47452331 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.80) 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 (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789163066.04784775 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 ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.340ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 41 warnings · 74 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.697ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312669 ms (missed cycles : 3).[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728351 ms (missed cycles : 3).[0m ×2 + 1.12sWARNros2_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 + 1.14sWARNros2_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 + 1.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.141ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710349 ms (missed cycles : 2).[0m ×2 + 2.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.70sINFOjoint_trajectory_controllerGoal reached, success! + 2.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789163065.47452331 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sWARNlocal_costmap.local_costmapSensor origin at (-3.63, 12.80) 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 (-4.53, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.97sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335668 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan Path Along Surface"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.26sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.26sINFOobjective_server_nodecaller: ×2 + 3.26sINFOobjective_server_nodetype: 0 ×2 + 3.26sINFOobjective_server_nodename: "" ×2 + 3.27sINFOobjective_server_nodeinstance_id: "" ×2 + 3.27sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789163066.04784775 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 ×3 + 3.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.340ms + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468183 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824617 ms (missed cycles : 2).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.04sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034876 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.00sINFOmove_groupClearing octomap...[0m ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.43sWARNros2_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 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.00sINFOmove_groupClearing octomap...[0m ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.43sWARNros2_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 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 25 warnings · 69 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.595749 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785455 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047864 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789163200.91387844 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025801 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Solution - Generate coverage path"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.51sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.51sINFOobjective_server_nodecaller: ×2 + 3.51sINFOobjective_server_nodetype: 0 ×2 + 3.51sINFOobjective_server_nodename: "" ×2 + 3.51sINFOobjective_server_nodeinstance_id: "" ×2 + 3.51sINFOobjective_server_node ×2 + 3.55sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789163201.49425030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.499264 ms (missed cycles : 3).[0m ×2 + 4.93sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.95sWARNros2_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 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829366 ms (missed cycles : 3).[0m ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.15sINFOjoint_trajectory_controllerReceived new action goal + 6.15sINFOjoint_trajectory_controllerAccepted new action goal + 6.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431263 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 26 warnings · 118 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.02sWARNros2_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 ×4 + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.338ms + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.031ms + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103849 ms (missed cycles : 4).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.553ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813180 ms (missed cycles : 3).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789163274.36422086 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298016 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.68sINFOobjective_server_nodecaller: ×4 + 3.68sINFOobjective_server_nodetype: 0 ×4 + 3.68sINFOobjective_server_nodename: "" ×4 + 3.68sINFOobjective_server_nodeinstance_id: "" ×4 + 3.68sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789163274.97147965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.75sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.479ms + 4.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789163275.49160671 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025695 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789163276.06956530 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789163276.53968358 seconds ×3 + 5.42sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2). + 6.16sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104355 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576247 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 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 | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_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 2.477970 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.89sINFOobjective_server_nodecaller: ×10 + 1.89sINFOobjective_server_nodetype: 0 ×10 + 1.89sINFOobjective_server_nodename: "" ×10 + 1.89sINFOobjective_server_nodeinstance_id: "" ×10 + 1.89sINFOobjective_server_node ×10 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 3.78sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 29 warnings · 303 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.48sINFOobjective_server_nodecaller: ×10 + 3.48sINFOobjective_server_nodetype: 0 ×10 + 3.48sINFOobjective_server_nodename: "" ×10 + 3.48sINFOobjective_server_nodeinstance_id: "" ×10 + 3.48sINFOobjective_server_node ×10 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.94sWARNros2_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 ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 7.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.00sINFOmove_groupClearing octomap...[0m ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.43sWARNros2_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 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 6.93sINFOjoint_trajectory_controllerReceived new action goal + 6.93sINFOjoint_trajectory_controllerAccepted new action goal + 6.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.93sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 26 warnings · 300 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.57sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.96sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.48sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.48sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.48sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.48sINFOobjective_server_nodecaller: ×10 + 3.48sINFOobjective_server_nodetype: 0 ×10 + 3.48sINFOobjective_server_nodename: "" ×10 + 3.48sINFOobjective_server_nodeinstance_id: "" ×10 + 3.48sINFOobjective_server_node ×10 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.07sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.64sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.41sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_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 + 5.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.94sWARNros2_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 ×2 + 6.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.04sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.00sINFOmove_groupClearing octomap...[0m ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.43sWARNros2_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 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.00sINFOmove_groupClearing octomap...[0m ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.43sWARNros2_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 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 303 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636601 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 2.43sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.43sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.45sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.45sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.96sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.96sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.96sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.96sINFOobjective_server_nodecaller: ×10 + 2.96sINFOobjective_server_nodetype: 0 ×10 + 2.96sINFOobjective_server_nodename: "" ×10 + 2.96sINFOobjective_server_nodeinstance_id: "" ×10 + 2.96sINFOobjective_server_node ×10 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.00sINFOmove_groupClearing octomap...[0m ×2 + 3.00sINFOmove_groupOctomap cleared.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 4.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 4.86sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 5.43sWARNros2_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 + 5.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.53sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.58sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941225 ms (missed cycles : 2).[0m ×2 + 0.98sINFOros2_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 2.477970 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.35sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.89sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.89sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.89sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.89sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.89sINFOobjective_server_nodecaller: ×10 + 1.89sINFOobjective_server_nodetype: 0 ×10 + 1.89sINFOobjective_server_nodename: "" ×10 + 1.89sINFOobjective_server_nodeinstance_id: "" ×10 + 1.89sINFOobjective_server_node ×10 + 1.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.48sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 3.78sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_pose.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 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 | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception7 skip
| − skipped | — | calibrate_eye_in_hand_camera.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_eye_to_hand_camera.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | calibrate_multiple_cameras.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_calibration_sample.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | capture_camera_point_cloud.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 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 | 22 warnings · 309 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.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 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477970 ms (missed cycles : 2).[0m ×2 + 0.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.39sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.91sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.91sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.91sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.91sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.91sINFOobjective_server_nodecaller: ×10 + 0.91sINFOobjective_server_nodetype: 0 ×10 + 0.91sINFOobjective_server_nodename: "" ×10 + 0.91sINFOobjective_server_nodeinstance_id: "" ×10 + 0.91sINFOobjective_server_node ×10 + 0.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789162917.71476984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.95sINFOmove_groupClearing octomap...[0m ×2 + 0.95sINFOmove_groupOctomap cleared.[0m ×2 + 0.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789162917.72504640 seconds ×3 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094104 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789162918.29989004 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789162918.31000233 seconds ×3 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789162918.88779521 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789162919.03870034 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456274 ms (missed cycles : 3).[0m ×2 + 2.80sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789162919.65120721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_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 + 2.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789162919.70132589 seconds ×3 + 3.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cartesian Draw Geometry From File"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789162920.28141451 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982311 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054638 ms (missed cycles : 2).[0m ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal + 4.87sINFOjoint_trajectory_controllerAccepted new action goal + 4.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005252 ms (missed cycles : 2).[0m ×2 | ||||