MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.5s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.5s	12 errors · 312 warnings · 1564 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/2026-09-16-22-49-14-929854-01dda64c4c05-7573 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.66sINFOstatic_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' + 4.66sINFOstatic_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' + 4.66sINFOstatic_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' + 4.66sINFOstatic_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' + 4.86sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.86sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.88sINFOcontroller_managerupdate rate is 600 Hz + 4.88sINFOcontroller_managerOverruns handling is : enabled + 4.88sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.88sWARNcontroller_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. + 4.90sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.90sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.747578 ms (missed cycles : 6). + 4.93sINFOros2_control_node-11process started with pid [7725] ×2 + 4.93sINFOmove_group-23process started with pid [7743] ×2 + 4.93sINFOparameter_manager_node-24process started with pid [7746] ×2 + 4.93sINFOwaypoint_manager_node-25process started with pid [7778] ×2 + 4.93sINFOmove_joint_resampler_node-26process started with pid [7779] ×2 + 4.93sINFOmove_end_effector_resampler_node-27process started with pid [7780] ×2 + 4.93sINFOobjective_server_node_main-28process started with pid [7781] ×2 + 4.93sINFOcomponent_container_mt-29process started with pid [7800] ×2 + 4.93sINFOcomponent_container_mt-30process started with pid [7801] ×2 + 4.93sINFOexecute_objective_bridge-31process started with pid [7802] ×2 + 4.93sINFOui_teleop_bridge-32process started with pid [7803] ×2 + 4.93sINFOweb_bridge-33process started with pid [7804] ×2 + 4.93sINFOtf2_web_republisher_node-34process started with pid [7807] ×2 + 4.93sINFOvideo_server-35process started with pid [7808] ×2 + 4.93sINFOweb_bridge_auth_proxy-36process started with pid [7812] ×2 + 4.93sINFOweb_video_auth_proxy-37process started with pid [7813] ×2 + 4.93sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.93sINFOcomponent_container_isolated-1process started with pid [7623] ×2 + 4.93sINFOcomponent_container_isolated-2process started with pid [7624] ×2 + 4.93sINFOstatic_transform_publisher-3process started with pid [7625] ×2 + 4.93sINFOstatic_transform_publisher-4process started with pid [7626] ×2 + 4.93sINFOodom_qos_relay.py-5process started with pid [7627] ×2 + 4.93sINFOlidar_flattener.py-6process started with pid [7628] ×2 + 4.93sINFOstatic_transform_publisher-7process started with pid [7629] ×2 + 4.93sINFOstatic_transform_publisher-8process started with pid [7630] ×2 + 4.93sINFOscan_to_scan_filter_chain-9process started with pid [7631] ×2 + 4.93sINFOscan_to_scan_filter_chain-10process started with pid [7724] ×2 + 4.93sINFOros2-12process started with pid [7726] ×2 + 4.93sINFOros2-13process started with pid [7727] ×2 + 4.93sINFOros2-14process started with pid [7728] ×2 + 4.93sINFOros2-15process started with pid [7729] ×2 + 4.93sINFOros2-16process started with pid [7730] ×2 + 4.93sINFOros2-17process started with pid [7731] ×2 + 4.93sINFOros2-18process started with pid [7732] ×2 + 4.93sINFOros2-19process started with pid [7733] ×2 + 4.94sINFOros2-20process started with pid [7736] ×2 + 4.94sINFOros2-21process started with pid [7737] ×2 + 4.94sINFOros2-22process started with pid [7742] ×2 + 4.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.99sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 5.00sINFOcontroller_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. + 5.01sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 5.01sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 5.01sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 5.01sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 5.01sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.01sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 5.02sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.02sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.02sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.02sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.02sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.02sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.02sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.02sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.02sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.02sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.02sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.02sWARNros2_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 + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.747578 ms (missed cycles : 6).[0m ×2 + 5.03sINFOcontroller_serverCreating controller server + 5.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.05sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.05sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.08sINFOlocal_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. + 5.09sINFOmap_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. + 5.09sINFOmap_serverCreating + 5.10sINFOlocal_costmap.local_costmapCreating Costmap + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.11sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.11sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.11sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.12sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.13sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.14sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.17sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.19sINFOrobot_state_publisherRobot initialized + 5.19sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.19sINFOcontroller_managerReceived robot description from topic. + 5.19sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.19sINFOsmoother_serverCreating smoother server + 5.19sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.20sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.21sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.21sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.21sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.22sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.26sINFOlifecycle_manager_localizationCreating + 5.26sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.27sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.27sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.28sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.29sINFOplanner_serverCreating + 5.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.29sINFOvideo_server2026/09/16 22:49:21 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.29sINFOvideo_server2026/09/16 22:49:21 INF configuration loaded from /tmp/moveit-webrtc-5e97unku/mediamtx.yml ×2 + 5.29sINFOvideo_server2026/09/16 22:49:21 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.29sINFOvideo_server2026/09/16 22:49:21 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.29sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.29sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.30sINFOmap_serverConfiguring + 5.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.32sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.33sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.33sINFOglobal_costmap.global_costmapCreating Costmap + 5.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.39sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.41sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.41sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.41sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.41sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.42sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.42sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.42sINFOamclConfiguring + 5.45sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.45sINFOmap_serverActivating + 5.45sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.52sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.55sINFObt_navigatorCreating + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.56sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.56sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.56sINFOamclActivating + 5.56sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.57sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.59sINFOamclSubscribed to map_topic: /map + 5.60sINFOamclSubscribed to scan_topic: /scan_merged + 5.60sINFOamclCreated reinitialize_global_localization service + 5.61sINFOamclCreated request_nomotion_update service + 5.61sINFOamclA new map was received + 5.61sINFOamclInitializing particle filter instance + 5.62sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 5.63sINFOwaypoint_followerCreating + 5.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.67sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.435409 seconds + 5.67sINFOmove_groupLoaded robot model in 0.435409 seconds[0m ×2 + 5.67sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.67sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.67sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.67sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.68sWARNlaser_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. + 5.68sWARNscan_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 + 5.71sINFOvelocity_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. + 5.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.76sINFOlifecycle_manager_navigationCreating + 5.78sWARNlaser_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. + 5.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.79sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.80sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.80sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.81sINFOcontroller_serverConfiguring controller interface + 5.81sINFOcontroller_servergetting progress checker plugins.. + 5.81sINFOcontroller_servergetting goal checker plugins.. + 5.81sINFOcontroller_serverController frequency set to 20.0000Hz + 5.81sINFOlocal_costmap.local_costmapConfiguring + 5.81sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.85sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.88sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.89sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.89sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.95sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.96sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.96sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.96sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.98sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818152 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818152 ms (missed cycles : 3).[0m ×2 + 6.02sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.03sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.03sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.05sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.05sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.05sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.05sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.05sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.05sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.06sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 6.06sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.07sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.07sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.08sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.08sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.08sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.09sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.09sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.09sINFOcontroller_serverOptimizer reset ×2 + 6.10sINFOcontroller_serverController Server has FollowPath controllers available. + 6.12sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.12sINFOsmoother_serverConfiguring smoother server + 6.13sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.14sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.16sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.16sINFOplanner_serverConfiguring + 6.16sINFOglobal_costmap.global_costmapConfiguring + 6.18sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.19sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.20sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.20sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.21sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.25sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.25sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.25sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.29sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.29sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.29sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.30sINFOplanner_serverPlanner Server has GridBased planners available. + 6.31sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.31sINFObehavior_serverConfiguring + 6.32sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.32sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.33sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.33sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.33sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.34sINFObehavior_serverConfiguring spin + 6.36sINFObehavior_serverConfiguring backup + 6.37sINFObehavior_serverConfiguring drive_on_heading + 6.38sINFOamclParticle filter initialization completed + 6.38sINFObehavior_serverConfiguring assisted_teleop + 6.38sINFOamclInitializing particles from estimated pose and covariance + 6.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.39sINFObehavior_serverConfiguring wait + 6.40sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.40sINFObt_navigatorConfiguring + 6.41sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.42sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 6.47sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.47sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.47sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.47sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.48sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.48sWARNmove_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 + 6.48sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.55sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.55sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.55sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.55sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.56sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.59sINFOros2_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 + 6.59sINFOros2_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 + 6.60sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.60sINFOwaypoint_followerConfiguring + 6.62sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.63sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.63sINFOvelocity_smootherConfiguring velocity smoother + 6.63sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.63sINFOcontroller_serverActivating + 6.63sINFOlocal_costmap.local_costmapActivating + 6.63sINFOlocal_costmap.local_costmapChecking transform + 6.63sINFOlocal_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. ×13 + 6.72sINFOmove_group[2026-09-16 22:49:23.266] [moveit_pro_license] [info] ×2 + 6.72sINFOmove_group************************************************* ×4 + 6.72sINFOmove_group* MoveIt Pro License ×2 + 6.72sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.73sINFOwaypoint_manager_nodeLoaded robot model in 0.278782 seconds[0m ×2 + 6.73sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.73sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.14sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.14sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.14sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.14sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.14sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.14sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.14sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.14sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.14sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.15sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.15sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.15sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.15sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150925 ms (missed cycles : 2). + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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 + 7.15sWARNwaypoint_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. + 7.15sWARNwaypoint_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. + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150925 ms (missed cycles : 2).[0m ×2 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.16sWARNwaypoint_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. + 7.16sWARNwaypoint_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 + 7.17sWARNwaypoint_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 + 7.37sINFOwaypoint_manager_node[2026-09-16 22:49:23.917] [moveit_pro_license] [info] ×2 + 7.37sINFOwaypoint_manager_node************************************************* ×4 + 7.37sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.37sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.37sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.37sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.37sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.37sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.37sWARNros2_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 + 7.37sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.37sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.37sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.37sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.37sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.37sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.37sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.37sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.37sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.37sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.37sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.37sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.37sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.37sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.37sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.37sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.37sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.37sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.37sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.37sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.37sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 7.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 7.61sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 7.61sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 7.65sINFOros2_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 + 7.65sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.65sWARNros2_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 + 7.65sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 7.66sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 7.66sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 7.66sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 7.66sINFOplatform_velocity_controller_nav2configure successful + 7.66sINFOros2_control_nodeconfigure successful[0m ×6 + 7.81sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.81sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.82sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.99sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 7.99sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 8.02sINFOros2-17process has finished cleanly [pid 7731] ×2 + 8.08sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.08sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.09sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.09sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.09sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 8.09sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.09sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 8.09sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 8.09sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.09sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 8.09sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.09sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 8.09sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.10sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.10sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.15sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.15sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 8.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 8.16sINFOobjective_server_node[2026-09-16 22:49:24.707] [moveit_pro_license] [info] ×2 + 8.16sINFOobjective_server_node************************************************* ×4 + 8.16sINFOobjective_server_node* MoveIt Pro License ×2 + 8.16sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.17sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.17sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.17sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.19sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.19sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.20sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.20sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.21sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.21sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.21sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.21sINFOstreaming_point_cloud_publisher_nodeStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 8.21sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.21sINFOcomponent_container_mtStreaming PointCloud2 and LaserScan sources -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 8.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.21sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.22sINFOobjective_server_nodeLoaded robot model in 0.0235716 seconds[0m ×2 + 8.22sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.22sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200597 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200597 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 8.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.41sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.41sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 8.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 8.43sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 8.43sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 8.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.44sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.45sINFOros2-18process has finished cleanly [pid 7732] ×2 + 8.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.49sINFOforce_torque_sensor_broadcasterconfigure successful + 8.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.50sINFOcontroller_managerSuccessfully switched controllers! ×20 + 8.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 8.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.66sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.66sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.72sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.72sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.72sWARNobjective_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. + 8.72sWARNobjective_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. + 8.72sWARNobjective_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 + 8.72sWARNobjective_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 + 8.72sWARNobjective_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. + 8.72sWARNobjective_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. + 8.72sWARNobjective_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 + 8.72sWARNobjective_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 + 8.72sWARNobjective_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. + 8.72sWARNobjective_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. + 8.72sWARNobjective_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 + 8.72sWARNobjective_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. + 8.72sWARNobjective_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. + 8.72sWARNobjective_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 + 8.72sWARNobjective_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. + 8.72sWARNobjective_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. + 8.72sWARNobjective_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 + 8.72sWARNobjective_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 + 8.72sWARNobjective_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 + 8.72sWARNobjective_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 + 8.80sINFOcomponent_container_mtLoaded robot model in 0.447106 seconds[0m ×2 + 8.80sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.80sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.80sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 8.80sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.80sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 8.80sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 8.80sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 8.80sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 8.80sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 8.80sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 8.82sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.82sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.83sINFOros2-12process has finished cleanly [pid 7726] ×2 + 8.86sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 8.86sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 8.86sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 8.86sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 8.86sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 8.86sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 8.87sINFOmove_groupMoveGroup debug mode is ON + 8.87sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 8.87sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.87sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 8.87sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.91sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.92sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.92sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.96sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.01sINFOmove_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 ****************************************************** + 9.01sINFOmove_group ×8 + 9.02sINFOmove_group****************************************************** ×4 + 9.02sINFOmove_group* MoveGroup using: ×2 + 9.02sINFOmove_group* - apply_planning_scene_service ×2 + 9.02sINFOmove_group* - clear_octomap_service ×2 + 9.02sINFOmove_group* - get_group_urdf ×2 + 9.02sINFOmove_group* - load_geometry_from_file ×2 + 9.02sINFOmove_group* - get_planning_scene_service ×2 + 9.02sINFOmove_group* - kinematics_service ×2 + 9.02sINFOmove_group* - save_geometry_to_file ×2 + 9.02sINFOmove_group* - GetPlanningGroups ×2 + 9.02sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.02sINFOmove_group[0m ×2 + 9.02sINFOmove_group[92mYou can start planning now![0m ×2 + 9.16sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 9.16sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 9.16sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 9.16sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.20sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.20sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.22sINFOros2-13process has finished cleanly [pid 7727] ×2 + 9.31sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 9.31sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 9.32sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 9.32sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692929 ms (missed cycles : 2). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692929 ms (missed cycles : 2).[0m ×2 + 9.38sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 9.38sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 9.38sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 9.38sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 9.39sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 9.39sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.41sINFOcomponent_container_mt[2026-09-16 22:49:25.957] [moveit_pro_license] [info] ×2 + 9.41sINFOcomponent_container_mt************************************************* ×4 + 9.41sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.41sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.41sWARNros2_control_nodeCamera render tick took 0.96 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.44sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.44sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.44sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.44sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.68sINFOros2_control_node[2026-09-16 22:49:26.230] [info] Controller state will be published at 20 Hz. ×2 + 9.68sINFOros2_control_node[2026-09-16 22:49:26.231] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.74sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.74sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.95sWARNros2_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 + 9.98sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 9.98sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 9.98sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 9.98sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 10.02sINFOros2-21process has finished cleanly [pid 7737] ×2 + 10.05sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 10.05sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 10.11sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 10.11sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 10.12sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 10.12sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 10.25sWARNobjective_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 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374982 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374982 ms (missed cycles : 2).[0m ×2 + 10.45sINFOros2_control_node[2026-09-16 22:49:26.997] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 10.45sINFOros2_control_node[2026-09-16 22:49:26.999] [info] Controller state will be published at 10 Hz. ×2 + 10.45sINFOros2_control_node[2026-09-16 22:49:27.000] [info] VelocityForceController 'on_configure' succeeded. ×2 + 10.46sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789598965.004 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.76sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.76sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.76sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.77sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 10.77sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.77sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 10.78sINFOros2-20process has finished cleanly [pid 7736] ×2 + 10.82sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.82sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.82sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.82sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 11.14sINFOros2_control_node[2026-09-16 22:49:27.685] [info] Controller state will be published at 20 Hz. ×2 + 11.14sINFOros2_control_node[2026-09-16 22:49:27.686] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.46sINFOros2-22process has finished cleanly [pid 7742] ×2 + 11.47sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.47sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.47sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.47sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.47sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 11.48sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 11.49sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.52sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 11.52sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 11.53sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.53sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.53sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728231 ms (missed cycles : 4). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728231 ms (missed cycles : 4).[0m ×2 + 11.55sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 11.55sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 11.83sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.83sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.83sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.83sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 11.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 11.87sINFOros2-16process has finished cleanly [pid 7730] ×2 + 11.89sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.89sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.25sINFOros2_control_node[2026-09-16 22:49:28.803] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.26sINFOros2_control_node[2026-09-16 22:49:28.805] [info] Controller state will be published at 10 Hz. ×2 + 12.26sINFOros2_control_node[2026-09-16 22:49:28.806] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 12.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 12.59sINFOros2-19process has finished cleanly [pid 7733] ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968606 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968606 ms (missed cycles : 3).[0m ×2 + 12.63sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.64sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.64sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.64sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.64sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.64sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.65sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.65sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.65sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.65sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.95sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.95sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 + 12.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.95sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_huuv7km2 --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_hzk4tbav --params-file /tmp/launch_params_sotb8v_5 [0m ×2 + 12.99sINFOros2-14process has finished cleanly [pid 7728] ×2 + 13.01sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 13.01sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 13.01sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.01sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.01sINFOplatform_velocity_controllerconfigure successful + 13.02sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.02sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.02sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 13.02sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 13.04sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789598968.053 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.13sINFOlocal_costmap.local_costmapstart + 13.23sWARNcontroller_serverParameter controller_server.verbose not found + 13.24sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.25sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.25sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.25sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.25sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.27sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.27sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.34sINFOros2-15process has finished cleanly [pid 7729] ×2 + 13.34sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.34sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.35sINFOsmoother_serverActivating + 13.35sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.46sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.46sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.46sINFOplanner_serverActivating + 13.46sINFOglobal_costmap.global_costmapActivating + 13.46sINFOglobal_costmap.global_costmapChecking transform + 13.46sINFOglobal_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. + 13.62sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 7.657ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318567 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318567 ms (missed cycles : 2).[0m ×2 + 13.96sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789598970.479577, but only time 1789598970.655786 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.46sINFOglobal_costmap.global_costmapstart + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997408 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997408 ms (missed cycles : 2).[0m ×2 + 14.86sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789598970.641 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 15.51sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.51sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 15.62sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 15.62sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 15.62sINFObehavior_serverActivating + 15.62sINFObehavior_serverActivating spin + 15.62sINFObehavior_serverActivating backup + 15.62sINFObehavior_serverActivating drive_on_heading + 15.62sINFObehavior_serverActivating assisted_teleop + 15.62sINFObehavior_serverActivating wait + 15.62sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 15.72sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 15.72sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 15.72sINFObt_navigatorActivating + 15.78sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 15.88sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 15.88sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 15.88sINFOwaypoint_followerActivating + 15.88sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 15.98sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 15.98sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 15.99sINFOvelocity_smootherActivating + 15.99sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 16.09sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.09sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.09sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 17.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 18.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.38sINFOobjective_server_nodecaller: ×10 + 18.38sINFOobjective_server_nodetype: 0 ×10 + 18.38sINFOobjective_server_nodename: "" ×10 + 18.38sINFOobjective_server_nodeinstance_id: "" ×10 + 18.38sINFOobjective_server_node ×10 + 18.42sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 18.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 18.42sINFOmove_groupClearing octomap...[0m ×4 + 18.42sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 18.42sINFOmove_groupOctomap cleared.[0m ×4 + 18.42sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 18.43sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 18.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.97sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 19.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.56sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 20.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.37sINFOobjective_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 + 20.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 20.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.96sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.00sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2

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

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✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	64.0s	3 errors · 274 warnings · 258 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.743ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.735ms + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432332 ms (missed cycles : 2). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432332 ms (missed cycles : 2).[0m ×2 + 1.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.499ms + 1.55sINFOamclParticle filter update iteration stats: 4301 particles 723 points - 9.865ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917243 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917243 ms (missed cycles : 2).[0m ×2 + 2.05sINFOamclParticle filter update iteration stats: 2815 particles 723 points - 5.402ms + 2.55sWARNros2_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 + 2.56sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.226ms + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279866 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279866 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sINFOjoint_trajectory_controllerGot request to cancel goal + 2.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789599185.89900064 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.36sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789599186.48509455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.275ms + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154120 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154120 ms (missed cycles : 2).[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992344 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992344 ms (missed cycles : 2).[0m ×2 + 5.56sWARNros2_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 ×4 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.84sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.84sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.84sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528666 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528666 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553520 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553520 ms (missed cycles : 2).[0m ×2 + 8.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.675ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445408 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.445408 ms (missed cycles : 4).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.479ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374705 ms (missed cycles : 4). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374705 ms (missed cycles : 4).[0m ×2 + 9.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 10.01sWARNros2_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 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003752 ms (missed cycles : 3). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003752 ms (missed cycles : 3).[0m ×2 + 10.54sINFOamclParticle filter update iteration stats: 4590 particles 723 points - 7.573ms + 11.05sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 5.635ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395083 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395083 ms (missed cycles : 3).[0m ×2 + 11.56sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 3.926ms + 12.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.071ms + 12.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691995 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691995 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467776 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467776 ms (missed cycles : 3).[0m ×2 + 14.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181831 ms (missed cycles : 3).[0m ×2 + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.045ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018997 ms (missed cycles : 5). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018997 ms (missed cycles : 5).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 16.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566666 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566666 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803269 ms (missed cycles : 2). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803269 ms (missed cycles : 2).[0m ×2 + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 18.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.641ms + 19.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861109 ms (missed cycles : 2). + 19.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861109 ms (missed cycles : 2).[0m ×2 + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 19.99sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 20.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917916 ms (missed cycles : 3). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917916 ms (missed cycles : 3).[0m ×2 + 20.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×4 + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708257 ms (missed cycles : 2). + 21.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708257 ms (missed cycles : 2).[0m ×2 + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 21.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755083 ms (missed cycles : 2). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755083 ms (missed cycles : 2).[0m ×2 + 22.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930888 ms (missed cycles : 3). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930888 ms (missed cycles : 3).[0m ×2 + 24.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992074 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992074 ms (missed cycles : 2).[0m ×2 + 24.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 25.28sWARNros2_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 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314006 ms (missed cycles : 3). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314006 ms (missed cycles : 3).[0m ×2 + 25.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420850 ms (missed cycles : 2). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420850 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 27.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912475 ms (missed cycles : 2). + 27.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912475 ms (missed cycles : 2).[0m ×2 + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.539ms + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.651ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255799 ms (missed cycles : 5). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.255799 ms (missed cycles : 5).[0m ×2 + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.591ms ×2 + 29.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.791ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093698 ms (missed cycles : 3). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093698 ms (missed cycles : 3).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 30.61sWARNros2_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 + 30.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472238 ms (missed cycles : 3). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472238 ms (missed cycles : 3).[0m ×2 + 30.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772648 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772648 ms (missed cycles : 2).[0m ×2 + 31.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.610ms + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742775 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742775 ms (missed cycles : 3).[0m ×2 + 33.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.770ms + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087687 ms (missed cycles : 3). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087687 ms (missed cycles : 3).[0m ×2 + 34.21sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.21sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 34.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550123 ms (missed cycles : 2). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550123 ms (missed cycles : 2).[0m ×2 + 35.34sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063908 ms (missed cycles : 2). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063908 ms (missed cycles : 2).[0m ×2 + 36.14sWARNros2_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 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473540 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473540 ms (missed cycles : 3).[0m ×2 + 37.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890587 ms (missed cycles : 4). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.890587 ms (missed cycles : 4).[0m ×2 + 38.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033269 ms (missed cycles : 3). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033269 ms (missed cycles : 3).[0m ×2 + 39.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.461ms + 39.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841763 ms (missed cycles : 3). + 40.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.841763 ms (missed cycles : 3).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.971ms + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638825 ms (missed cycles : 3). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638825 ms (missed cycles : 3).[0m ×2 + 41.43sWARNros2_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 ×2 + 41.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 42.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×4 + 42.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684057 ms (missed cycles : 2). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684057 ms (missed cycles : 2).[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855636 ms (missed cycles : 2). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855636 ms (missed cycles : 2).[0m ×2 + 44.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.547ms + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801506 ms (missed cycles : 3). + 44.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801506 ms (missed cycles : 3).[0m ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475448 ms (missed cycles : 3). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475448 ms (missed cycles : 3).[0m ×2 + 46.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.561ms + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349595 ms (missed cycles : 5). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349595 ms (missed cycles : 5).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.817ms + 47.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 47.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893251 ms (missed cycles : 2). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893251 ms (missed cycles : 2).[0m ×2 + 48.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms + 48.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212667 ms (missed cycles : 4). + 48.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.212667 ms (missed cycles : 4).[0m ×2 + 48.85sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 49.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059626 ms (missed cycles : 2). + 49.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059626 ms (missed cycles : 2).[0m ×2 + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715674 ms (missed cycles : 2). + 50.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715674 ms (missed cycles : 2).[0m ×2 + 51.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815005 ms (missed cycles : 3). + 51.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815005 ms (missed cycles : 3).[0m ×2 + 52.67sWARNros2_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 + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012484 ms (missed cycles : 3). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012484 ms (missed cycles : 3).[0m ×2 + 53.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 53.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639529 ms (missed cycles : 3). + 53.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639529 ms (missed cycles : 3).[0m ×2 + 53.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 54.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 54.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559340 ms (missed cycles : 5). + 54.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.559340 ms (missed cycles : 5).[0m ×2 + 55.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 55.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748404 ms (missed cycles : 3). + 55.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748404 ms (missed cycles : 3).[0m ×2 + 56.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710091 ms (missed cycles : 2). + 56.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710091 ms (missed cycles : 2).[0m ×2 + 57.43sWARNros2_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 + 57.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.812ms + 58.01sINFOobjective_server_nodePlanning for 19 path waypoints. ×3 + 58.04sWARNros2_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 ×2 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098973 ms (missed cycles : 3). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098973 ms (missed cycles : 3).[0m ×2 + 59.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152770 ms (missed cycles : 2). + 59.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152770 ms (missed cycles : 2).[0m ×2 + 60.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397329 ms (missed cycles : 5). + 60.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.397329 ms (missed cycles : 5).[0m ×2 + 61.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743799 ms (missed cycles : 3). + 61.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743799 ms (missed cycles : 3).[0m ×2 + 62.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226174 ms (missed cycles : 4). + 62.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226174 ms (missed cycles : 4).[0m ×2 + 62.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.866ms + 63.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346523 ms (missed cycles : 3). + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346523 ms (missed cycles : 3).[0m ×2 + 64.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576506 ms (missed cycles : 4). + 64.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576506 ms (missed cycles : 4).[0m ×2 + 64.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 65.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 65.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277911 ms (missed cycles : 2). + 65.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277911 ms (missed cycles : 2).[0m ×2 + 66.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 66.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943046 ms (missed cycles : 2). + 66.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943046 ms (missed cycles : 2).[0m ×2 + 66.81sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789599249.88526154 seconds ×3 + 66.91sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 66.91sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 67.01sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.01sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 67.35sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 67.35sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 67.39sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789599250.46698737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 67.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.597ms + 67.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173273 ms (missed cycles : 3). + 67.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173273 ms (missed cycles : 3).[0m ×2 + 68.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384334 ms (missed cycles : 3). + 68.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384334 ms (missed cycles : 3).[0m ×2 + 69.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052320 ms (missed cycles : 2). + 69.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052320 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.1s	229 warnings · 214 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069587 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069587 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596873 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596873 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.52sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789599026.68666863 seconds ×3 + 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 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.57sINFOros2_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 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789599027.26693606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673064 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673064 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 3.59sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 3.214ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621586 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621586 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728192 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728192 ms (missed cycles : 2).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.62sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737367 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737367 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892856 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892856 ms (missed cycles : 2).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 3.244ms + 8.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806444 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806444 ms (missed cycles : 2).[0m ×2 + 9.12sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 3.535ms + 9.62sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.525ms + 9.83sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725184 ms (missed cycles : 4). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725184 ms (missed cycles : 4).[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.066ms + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.114ms + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179674 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179674 ms (missed cycles : 2).[0m ×2 + 11.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 11.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581289 ms (missed cycles : 4). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581289 ms (missed cycles : 4).[0m ×2 + 12.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 12.62sWARNros2_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 + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.895ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118968 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118968 ms (missed cycles : 2).[0m ×2 + 13.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 13.69sWARNros2_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 ×6 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143521 ms (missed cycles : 4). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143521 ms (missed cycles : 4).[0m ×2 + 14.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 15.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944812 ms (missed cycles : 3). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944812 ms (missed cycles : 3).[0m ×2 + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 16.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034857 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034857 ms (missed cycles : 2).[0m ×2 + 16.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959531 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959531 ms (missed cycles : 2).[0m ×2 + 17.84sWARNros2_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 ×6 + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386787 ms (missed cycles : 2). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386787 ms (missed cycles : 2).[0m ×2 + 18.92sWARNros2_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 ×6 + 18.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428939 ms (missed cycles : 3). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428939 ms (missed cycles : 3).[0m ×2 + 20.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 20.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 20.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347998 ms (missed cycles : 2). + 20.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347998 ms (missed cycles : 2).[0m ×2 + 21.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171248 ms (missed cycles : 3). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171248 ms (missed cycles : 3).[0m ×2 + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359355 ms (missed cycles : 3). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359355 ms (missed cycles : 3).[0m ×2 + 23.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476838 ms (missed cycles : 3). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476838 ms (missed cycles : 3).[0m ×2 + 24.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620700 ms (missed cycles : 3). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620700 ms (missed cycles : 3).[0m ×2 + 25.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 25.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596999 ms (missed cycles : 2). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596999 ms (missed cycles : 2).[0m ×2 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.588ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991148 ms (missed cycles : 2). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991148 ms (missed cycles : 2).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.599ms + 28.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674460 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674460 ms (missed cycles : 2).[0m ×2 + 28.59sWARNros2_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 + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.362ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332442 ms (missed cycles : 4). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332442 ms (missed cycles : 4).[0m ×2 + 29.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.752ms + 30.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 30.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293434 ms (missed cycles : 4). + 30.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293434 ms (missed cycles : 4).[0m ×2 + 30.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms ×2 + 31.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439491 ms (missed cycles : 4). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439491 ms (missed cycles : 4).[0m ×2 + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273017 ms (missed cycles : 2). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273017 ms (missed cycles : 2).[0m ×2 + 33.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877332 ms (missed cycles : 5). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.877332 ms (missed cycles : 5).[0m ×2 + 34.03sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316804 ms (missed cycles : 4). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316804 ms (missed cycles : 4).[0m ×2 + 35.04sWARNros2_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 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861114 ms (missed cycles : 2). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861114 ms (missed cycles : 2).[0m ×2 + 36.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 36.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398492 ms (missed cycles : 3). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398492 ms (missed cycles : 3).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602367 ms (missed cycles : 3). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602367 ms (missed cycles : 3).[0m ×2 + 38.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.490ms + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444144 ms (missed cycles : 3). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444144 ms (missed cycles : 3).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053134 ms (missed cycles : 4). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053134 ms (missed cycles : 4).[0m ×2 + 41.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374039 ms (missed cycles : 3). + 41.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374039 ms (missed cycles : 3).[0m ×2 + 41.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 42.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714294 ms (missed cycles : 3). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714294 ms (missed cycles : 3).[0m ×2 + 43.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866928 ms (missed cycles : 3). + 43.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866928 ms (missed cycles : 3).[0m ×2 + 44.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485234 ms (missed cycles : 3). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485234 ms (missed cycles : 3).[0m ×2 + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681158 ms (missed cycles : 2). + 45.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681158 ms (missed cycles : 2).[0m ×2 + 45.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 46.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558650 ms (missed cycles : 3). + 46.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558650 ms (missed cycles : 3).[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057988 ms (missed cycles : 3). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057988 ms (missed cycles : 3).[0m ×2 + 47.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.553ms + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497097 ms (missed cycles : 4). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497097 ms (missed cycles : 4).[0m ×2 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778661 ms (missed cycles : 3). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778661 ms (missed cycles : 3).[0m ×2 + 50.08sWARNros2_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 + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217054 ms (missed cycles : 2). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217054 ms (missed cycles : 2).[0m ×2 + 51.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 51.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651648 ms (missed cycles : 3). + 51.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651648 ms (missed cycles : 3).[0m ×2 + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540673 ms (missed cycles : 3). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540673 ms (missed cycles : 3).[0m ×2 + 54.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247991 ms (missed cycles : 2). + 54.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247991 ms (missed cycles : 2).[0m ×2 + 54.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 55.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191127 ms (missed cycles : 2). + 55.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191127 ms (missed cycles : 2).[0m ×2 + 56.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325072 ms (missed cycles : 4). + 56.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325072 ms (missed cycles : 4).[0m ×2 + 57.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3). + 57.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3).[0m ×2 + 58.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3). + 58.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3).[0m ×2 + 59.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4). + 59.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4).[0m ×2 + 59.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789599083.80706000 seconds ×3 + 59.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 59.75sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 59.75sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.22sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.525ms + 60.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789599084.39266467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2). + 60.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2).[0m ×2 + 60.66sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 60.95sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2). + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2).[0m ×2 + 62.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3). + 62.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.1s	242 warnings · 200 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.29sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.84sINFOobjective_server_nodecaller: ×4 + 2.84sINFOobjective_server_nodetype: 0 ×4 + 2.84sINFOobjective_server_nodename: "" ×4 + 2.84sINFOobjective_server_nodeinstance_id: "" ×4 + 2.84sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.45sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.45sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501510 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501510 ms (missed cycles : 4).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076450 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076450 ms (missed cycles : 3).[0m ×2 + 7.95sWARNros2_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 + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.433ms + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754722 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754722 ms (missed cycles : 3).[0m ×2 + 8.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 9.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.610ms + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716623 ms (missed cycles : 4). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716623 ms (missed cycles : 4).[0m ×2 + 9.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.350ms + 10.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.633ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820689 ms (missed cycles : 3). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820689 ms (missed cycles : 3).[0m ×2 + 10.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.944ms + 11.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.565ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962714 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962714 ms (missed cycles : 4).[0m ×2 + 11.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.581ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.342ms + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902559 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902559 ms (missed cycles : 3).[0m ×2 + 12.96sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 13.00sINFOamclParticle filter update iteration stats: 3731 particles 723 points - 6.330ms + 13.58sWARNros2_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 + 13.60sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 4.547ms + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744648 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744648 ms (missed cycles : 3).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 1300 particles 723 points - 4.728ms + 14.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.837ms + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617286 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617286 ms (missed cycles : 3).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060788 ms (missed cycles : 5). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060788 ms (missed cycles : 5).[0m ×2 + 15.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 16.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103372 ms (missed cycles : 5). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103372 ms (missed cycles : 5).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 17.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.614ms + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031323 ms (missed cycles : 5). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031323 ms (missed cycles : 5).[0m ×2 + 18.19sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 18.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 18.79sWARNros2_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 + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.129ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090964 ms (missed cycles : 4). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090964 ms (missed cycles : 4).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 19.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885527 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885527 ms (missed cycles : 2).[0m ×2 + 20.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.907ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983443 ms (missed cycles : 3). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983443 ms (missed cycles : 3).[0m ×2 + 21.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811276 ms (missed cycles : 3). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811276 ms (missed cycles : 3).[0m ×2 + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.032ms + 22.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110020 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110020 ms (missed cycles : 3).[0m ×2 + 23.47sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 24.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355293 ms (missed cycles : 3). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355293 ms (missed cycles : 3).[0m ×2 + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.306ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630744 ms (missed cycles : 4). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630744 ms (missed cycles : 4).[0m ×2 + 25.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 26.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.703ms + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819943 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819943 ms (missed cycles : 2).[0m ×2 + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.394ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587567 ms (missed cycles : 4). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.587567 ms (missed cycles : 4).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.965ms + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.517ms + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311742 ms (missed cycles : 2). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311742 ms (missed cycles : 2).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 29.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 29.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622454 ms (missed cycles : 2). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622454 ms (missed cycles : 2).[0m ×2 + 30.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.787ms + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339111 ms (missed cycles : 2). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339111 ms (missed cycles : 2).[0m ×2 + 31.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494004 ms (missed cycles : 3). + 31.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494004 ms (missed cycles : 3).[0m ×2 + 32.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.140ms + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945924 ms (missed cycles : 2). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945924 ms (missed cycles : 2).[0m ×2 + 33.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.580ms + 33.85sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792709 ms (missed cycles : 3). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792709 ms (missed cycles : 3).[0m ×2 + 34.23sWARNros2_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 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161553 ms (missed cycles : 4). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.161553 ms (missed cycles : 4).[0m ×2 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676944 ms (missed cycles : 2). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676944 ms (missed cycles : 2).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590229 ms (missed cycles : 3). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590229 ms (missed cycles : 3).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461159 ms (missed cycles : 2). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461159 ms (missed cycles : 2).[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372097 ms (missed cycles : 5). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372097 ms (missed cycles : 5).[0m ×2 + 40.26sWARNros2_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 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797637 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797637 ms (missed cycles : 2).[0m ×2 + 40.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.964ms + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925068 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925068 ms (missed cycles : 2).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350648 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350648 ms (missed cycles : 2).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738871 ms (missed cycles : 2). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738871 ms (missed cycles : 2).[0m ×2 + 44.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803720 ms (missed cycles : 2). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803720 ms (missed cycles : 2).[0m ×2 + 45.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974970 ms (missed cycles : 3). + 45.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.974970 ms (missed cycles : 3).[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858546 ms (missed cycles : 3). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858546 ms (missed cycles : 3).[0m ×2 + 47.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071808 ms (missed cycles : 3). + 47.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071808 ms (missed cycles : 3).[0m ×2 + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533845 ms (missed cycles : 2). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533845 ms (missed cycles : 2).[0m ×2 + 50.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127551 ms (missed cycles : 3). + 50.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127551 ms (missed cycles : 3).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505238 ms (missed cycles : 4). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505238 ms (missed cycles : 4).[0m ×2 + 52.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3). + 52.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065847 ms (missed cycles : 3).[0m ×2 + 52.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 53.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091518 ms (missed cycles : 3). + 53.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091518 ms (missed cycles : 3).[0m ×2 + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907615 ms (missed cycles : 2). + 54.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907615 ms (missed cycles : 2).[0m ×2 + 54.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 55.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984458 ms (missed cycles : 2). + 55.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984458 ms (missed cycles : 2).[0m ×2 + 56.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571736 ms (missed cycles : 3). + 56.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571736 ms (missed cycles : 3).[0m ×2 + 57.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823331 ms (missed cycles : 2). + 57.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823331 ms (missed cycles : 2).[0m ×2 + 58.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878338 ms (missed cycles : 3). + 58.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878338 ms (missed cycles : 3).[0m ×2 + 59.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789599313.46759939 seconds ×3 + 59.53sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.53sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979783 ms (missed cycles : 3). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979783 ms (missed cycles : 3).[0m ×2 + 59.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 59.63sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 59.63sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 59.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.94sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 60.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789599314.07342315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.661ms + 60.37sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 60.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840546 ms (missed cycles : 2). + 60.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840546 ms (missed cycles : 2).[0m ×2 + 60.73sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.23sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 61.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683847 ms (missed cycles : 2). + 61.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683847 ms (missed cycles : 2).[0m ×2 + 61.77sWARNros2_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 + 62.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998241 ms (missed cycles : 4). + 62.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998241 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	52.3s	236 warnings · 223 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms ×2 + 0.66sWARNros2_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 ×8 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4).[0m ×2 + 2.26sWARNros2_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 ×8 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789599122.60187888 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789599123.19251990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.627ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268097 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268097 ms (missed cycles : 2).[0m ×2 + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.951ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808964 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808964 ms (missed cycles : 2).[0m ×2 + 9.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.950ms + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459961 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459961 ms (missed cycles : 2).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.342ms + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.945ms + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374810 ms (missed cycles : 4). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374810 ms (missed cycles : 4).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.010ms + 11.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.523ms + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722385 ms (missed cycles : 2). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722385 ms (missed cycles : 2).[0m ×2 + 11.93sWARNros2_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 ×8 + 11.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.549ms + 12.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.823ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258461 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258461 ms (missed cycles : 2).[0m ×2 + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.695ms + 13.53sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 6.708ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508246 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508246 ms (missed cycles : 2).[0m ×2 + 14.05sINFOamclParticle filter update iteration stats: 2565 particles 723 points - 7.435ms + 14.56sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 3.530ms + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812648 ms (missed cycles : 4). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.812648 ms (missed cycles : 4).[0m ×2 + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.090ms + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311075 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311075 ms (missed cycles : 2).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046166 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046166 ms (missed cycles : 2).[0m ×2 + 17.19sWARNros2_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 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956443 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956443 ms (missed cycles : 2).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 18.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734446 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734446 ms (missed cycles : 2).[0m ×2 + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 19.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229408 ms (missed cycles : 2). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229408 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.326ms + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456280 ms (missed cycles : 4). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456280 ms (missed cycles : 4).[0m ×2 + 21.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 22.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767376 ms (missed cycles : 3). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767376 ms (missed cycles : 3).[0m ×2 + 22.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 22.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 23.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051154 ms (missed cycles : 2). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051154 ms (missed cycles : 2).[0m ×2 + 23.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 24.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 24.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048575 ms (missed cycles : 3). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048575 ms (missed cycles : 3).[0m ×2 + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970123 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970123 ms (missed cycles : 2).[0m ×2 + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 26.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445725 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445725 ms (missed cycles : 2).[0m ×2 + 26.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 27.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383942 ms (missed cycles : 3). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383942 ms (missed cycles : 3).[0m ×2 + 27.93sWARNros2_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 + 27.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859710 ms (missed cycles : 3). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859710 ms (missed cycles : 3).[0m ×2 + 29.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.668ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.739ms + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536915 ms (missed cycles : 4). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536915 ms (missed cycles : 4).[0m ×2 + 30.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.883ms + 30.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642153 ms (missed cycles : 4). + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.642153 ms (missed cycles : 4).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.986ms + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.872ms + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047518 ms (missed cycles : 4). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047518 ms (missed cycles : 4).[0m ×2 + 32.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.869ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.655ms + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957002 ms (missed cycles : 2). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957002 ms (missed cycles : 2).[0m ×2 + 34.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911200 ms (missed cycles : 4). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911200 ms (missed cycles : 4).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640760 ms (missed cycles : 4). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640760 ms (missed cycles : 4).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071315 ms (missed cycles : 2). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071315 ms (missed cycles : 2).[0m ×2 + 38.02sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 38.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653573 ms (missed cycles : 4). + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653573 ms (missed cycles : 4).[0m ×2 + 38.72sINFOobjective_server_nodePlanning for 26 path waypoints. ×3 + 38.93sWARNros2_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 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944318 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944318 ms (missed cycles : 2).[0m ×2 + 40.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708332 ms (missed cycles : 2). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708332 ms (missed cycles : 2).[0m ×2 + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390343 ms (missed cycles : 5). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390343 ms (missed cycles : 5).[0m ×2 + 41.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.631ms + 42.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785231 ms (missed cycles : 3). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.785231 ms (missed cycles : 3).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.827ms + 43.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924444 ms (missed cycles : 4). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924444 ms (missed cycles : 4).[0m ×2 + 44.37sWARNros2_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 + 44.39sWARNros2_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 + 44.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811942 ms (missed cycles : 2). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811942 ms (missed cycles : 2).[0m ×2 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970517 ms (missed cycles : 2). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970517 ms (missed cycles : 2).[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275069 ms (missed cycles : 2).[0m ×2 + 47.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730264 ms (missed cycles : 5). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730264 ms (missed cycles : 5).[0m ×2 + 48.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 48.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.442ms + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029171 ms (missed cycles : 2). + 49.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029171 ms (missed cycles : 2).[0m ×2 + 49.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 49.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 50.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343424 ms (missed cycles : 3). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343424 ms (missed cycles : 3).[0m ×2 + 50.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.538ms + 51.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683811 ms (missed cycles : 2). + 51.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683811 ms (missed cycles : 2).[0m ×2 + 52.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754163 ms (missed cycles : 3). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754163 ms (missed cycles : 3).[0m ×2 + 52.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862317 ms (missed cycles : 3). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862317 ms (missed cycles : 3).[0m ×2 + 54.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 54.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937389 ms (missed cycles : 3). + 54.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937389 ms (missed cycles : 3).[0m ×2 + 55.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324290 ms (missed cycles : 2). + 55.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324290 ms (missed cycles : 2).[0m ×2 + 55.43sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789599174.88264275 seconds ×3 + 55.53sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 55.53sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 55.63sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 55.73sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 55.97sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.97sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 56.02sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789599175.46695185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 56.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.576ms + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206528 ms (missed cycles : 2). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206528 ms (missed cycles : 2).[0m ×2 + 56.43sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 57.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464698 ms (missed cycles : 3). + 57.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464698 ms (missed cycles : 3).[0m ×2 + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034449 ms (missed cycles : 2). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034449 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.7s	151 warnings · 394 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 0.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.98sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.98sINFOobjective_server_nodecaller: ×12 + 0.98sINFOobjective_server_nodetype: 0 ×12 + 0.98sINFOobjective_server_nodename: "" ×12 + 0.98sINFOobjective_server_nodeinstance_id: "" ×12 + 0.98sINFOobjective_server_node ×12 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.02sINFOmove_groupClearing octomap...[0m ×4 + 1.02sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.02sINFOmove_groupOctomap cleared.[0m ×4 + 1.02sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_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 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 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 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138492 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138492 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938486 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938486 ms (missed cycles : 2).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302526 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302526 ms (missed cycles : 3).[0m ×2 + 9.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×6 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915150 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915150 ms (missed cycles : 3).[0m ×2 + 11.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563984 ms (missed cycles : 4). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563984 ms (missed cycles : 4).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401333 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401333 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976262 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976262 ms (missed cycles : 2).[0m ×2 + 14.35sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 4.323ms + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752951 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752951 ms (missed cycles : 2).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171366 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171366 ms (missed cycles : 2).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869977 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869977 ms (missed cycles : 2).[0m ×2 + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873712 ms (missed cycles : 2). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873712 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547218 ms (missed cycles : 2). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.547218 ms (missed cycles : 2).[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662733 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662733 ms (missed cycles : 3).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502720 ms (missed cycles : 3). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502720 ms (missed cycles : 3).[0m ×2 + 21.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386142 ms (missed cycles : 3). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386142 ms (missed cycles : 3).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503947 ms (missed cycles : 3). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503947 ms (missed cycles : 3).[0m ×2 + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602029 ms (missed cycles : 2). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602029 ms (missed cycles : 2).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099035 ms (missed cycles : 2). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099035 ms (missed cycles : 2).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980658 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980658 ms (missed cycles : 2).[0m ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621065 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621065 ms (missed cycles : 2).[0m ×2 + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293869 ms (missed cycles : 4). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293869 ms (missed cycles : 4).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981167 ms (missed cycles : 3). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981167 ms (missed cycles : 3).[0m ×2 + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026136 ms (missed cycles : 2). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026136 ms (missed cycles : 2).[0m ×2 + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344512 ms (missed cycles : 2). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.344512 ms (missed cycles : 2).[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355028 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355028 ms (missed cycles : 2).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620807 ms (missed cycles : 3). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620807 ms (missed cycles : 3).[0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344074 ms (missed cycles : 4). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.344074 ms (missed cycles : 4).[0m ×2 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086464 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086464 ms (missed cycles : 2).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440476 ms (missed cycles : 3). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440476 ms (missed cycles : 3).[0m ×2 + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073519 ms (missed cycles : 2). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073519 ms (missed cycles : 2).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909083 ms (missed cycles : 2). + 39.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909083 ms (missed cycles : 2).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378782 ms (missed cycles : 2). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378782 ms (missed cycles : 2).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833777 ms (missed cycles : 3). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833777 ms (missed cycles : 3).[0m ×2 + 42.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.889ms + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346134 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346134 ms (missed cycles : 3).[0m ×2 + 43.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2). + 43.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2).[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3). + 45.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3).[0m ×2 + 46.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2). + 46.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2).[0m ×2 + 46.63sINFOjoint_trajectory_controllerGoal reached, success! + 46.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789599020.62377596 seconds ×3 + 46.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2).[0m ×2 + 47.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 47.21sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.21sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789599021.20654178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2).[0m ×2 + 48.28sINFOobjective_server_nodeFound path in 0 iterations (7.4707e-05 s). ×2 + 48.35sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2).[0m ×2 + 50.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 50.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2). + 50.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	148 warnings · 187 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211836 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211836 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025658 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025658 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122896 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122896 ms (missed cycles : 3).[0m ×2 + 2.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.17sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.22sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789599090.15280461 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246291 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246291 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.80sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789599091.73174334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185762 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185762 ms (missed cycles : 2).[0m ×2 + 5.24sWARNros2_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 + 5.26sWARNros2_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 ×6 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665540 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665540 ms (missed cycles : 2).[0m ×2 + 6.03sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641146 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641146 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685181 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685181 ms (missed cycles : 2).[0m ×2 + 8.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.227ms + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297670 ms (missed cycles : 4). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297670 ms (missed cycles : 4).[0m ×2 + 9.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.207ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708733 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708733 ms (missed cycles : 2).[0m ×2 + 10.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.458ms + 10.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 10.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.914ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875026 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875026 ms (missed cycles : 2).[0m ×2 + 11.26sWARNros2_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 ×4 + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.988ms + 11.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.458ms + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211778 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211778 ms (missed cycles : 2).[0m ×2 + 12.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.853ms + 12.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243011 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243011 ms (missed cycles : 3).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 13.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.349ms + 14.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937478 ms (missed cycles : 3). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937478 ms (missed cycles : 3).[0m ×2 + 14.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.252ms + 15.47sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 8.048ms + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075670 ms (missed cycles : 4). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075670 ms (missed cycles : 4).[0m ×2 + 16.00sWARNros2_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 + 16.02sINFOamclParticle filter update iteration stats: 3357 particles 723 points - 9.050ms + 16.53sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 5.525ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371292 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371292 ms (missed cycles : 3).[0m ×2 + 17.05sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 4.259ms + 17.57sINFOamclParticle filter update iteration stats: 1693 particles 723 points - 3.423ms + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965613 ms (missed cycles : 3). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965613 ms (missed cycles : 3).[0m ×2 + 18.14sINFOamclParticle filter update iteration stats: 1353 particles 723 points - 2.692ms + 18.68sINFOamclParticle filter update iteration stats: 1151 particles 723 points - 2.299ms + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415512 ms (missed cycles : 3). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415512 ms (missed cycles : 3).[0m ×2 + 19.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.696ms + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919380 ms (missed cycles : 5). + 19.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919380 ms (missed cycles : 5).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 20.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.963ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193127 ms (missed cycles : 4). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193127 ms (missed cycles : 4).[0m ×2 + 20.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 21.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457059 ms (missed cycles : 2). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457059 ms (missed cycles : 2).[0m ×2 + 21.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 22.44sWARNros2_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 + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255295 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255295 ms (missed cycles : 2).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 23.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.132ms + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095251 ms (missed cycles : 2). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095251 ms (missed cycles : 2).[0m ×2 + 24.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619257 ms (missed cycles : 3). + 25.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619257 ms (missed cycles : 3).[0m ×2 + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119106 ms (missed cycles : 5). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.119106 ms (missed cycles : 5).[0m ×2 + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.167ms + 26.79sWARNros2_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 + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 27.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731635 ms (missed cycles : 3). + 27.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731635 ms (missed cycles : 3).[0m ×2 + 27.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.656ms + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826666 ms (missed cycles : 3). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826666 ms (missed cycles : 3).[0m ×2 + 28.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.946ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174908 ms (missed cycles : 4). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174908 ms (missed cycles : 4).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.649ms + 30.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880131 ms (missed cycles : 3). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880131 ms (missed cycles : 3).[0m ×2 + 30.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2).[0m ×2 + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2).[0m ×2 + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4).[0m ×2 + 33.77sWARNros2_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 + 33.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 34.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3). + 34.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3).[0m ×2 + 34.67sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789599122.60187888 seconds ×3 + 34.75sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.75sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.95sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 34.95sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 35.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 35.20sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 35.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789599123.19251990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.627ms + 35.64sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2).[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.1s	98 warnings · 242 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571736 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571736 ms (missed cycles : 3).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823331 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823331 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878338 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878338 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.98sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.00sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789599313.46759939 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.11sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 13.01) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979783 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979783 ms (missed cycles : 3).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.53sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.53sINFOobjective_server_nodecaller: ×6 + 3.53sINFOobjective_server_nodetype: 0 ×6 + 3.53sINFOobjective_server_nodename: "" ×6 + 3.53sINFOobjective_server_nodeinstance_id: "" ×6 + 3.53sINFOobjective_server_node ×6 + 3.60sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789599314.07342315 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.661ms + 3.96sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840546 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840546 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.81sWARNros2_control_nodeCamera render tick took 0.53 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683847 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683847 ms (missed cycles : 2).[0m ×2 + 5.36sWARNros2_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 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998241 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998241 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604259 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604259 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934081 ms (missed cycles : 4). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934081 ms (missed cycles : 4).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840612 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840612 ms (missed cycles : 2).[0m ×2 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (6.17e-07 s). ×2 + 10.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.09sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.18sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). ×2 + 10.32sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.34sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.38sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279814 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279814 ms (missed cycles : 2).[0m ×2 + 10.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.73sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.88sWARNros2_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 + 11.11sINFOobjective_server_nodeFound path in 33 iterations (0.031362 s). ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563524 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563524 ms (missed cycles : 3).[0m ×2 + 11.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.66sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.34sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203054 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203054 ms (missed cycles : 2).[0m ×2 + 12.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.15sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908810 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908810 ms (missed cycles : 2).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414747 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414747 ms (missed cycles : 3).[0m ×2 + 15.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.713ms + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193598 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193598 ms (missed cycles : 2).[0m ×2 + 15.82sWARNros2_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 + 16.37sWARNros2_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 ×4 + 16.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.211ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553225 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553225 ms (missed cycles : 3).[0m ×2 + 16.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.157ms + 17.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.214ms + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3).[0m ×2 + 18.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.986ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2).[0m ×2 + 19.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789599329.60866666 seconds ×3 + 19.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789599330.22517419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.76sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.76sINFOmove_groupClearing octomap...[0m ×2 + 19.76sINFOmove_groupOctomap cleared.[0m ×2 + 19.77sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.77sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.804ms + 20.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789599330.99530840 seconds ×3 + 21.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.06sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3).[0m ×2 + 21.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789599331.57060742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789599332.08309174 seconds ×3 + 21.72sWARNros2_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 + 21.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 22.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 86 warnings · 157 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862317 ms (missed cycles : 3). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862317 ms (missed cycles : 3).[0m ×2 + 1.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.583ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937389 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937389 ms (missed cycles : 3).[0m ×2 + 2.59sWARNros2_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 ×2 + 2.61sWARNros2_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 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324290 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324290 ms (missed cycles : 2).[0m ×2 + 2.91sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789599174.88264275 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-2.79, 11.82) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.49sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.49sINFOobjective_server_nodecaller: ×4 + 3.49sINFOobjective_server_nodetype: 0 ×4 + 3.49sINFOobjective_server_nodename: "" ×4 + 3.49sINFOobjective_server_nodeinstance_id: "" ×4 + 3.49sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789599175.46695185 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.576ms + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206528 ms (missed cycles : 2). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206528 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (5.67e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464698 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464698 ms (missed cycles : 3).[0m ×2 + 5.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034449 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034449 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873356 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873356 ms (missed cycles : 4).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967671 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967671 ms (missed cycles : 2).[0m ×2 + 8.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 8.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.119ms + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691549 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691549 ms (missed cycles : 2).[0m ×2 + 9.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.916ms + 10.06sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.363ms + 10.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.416ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680697 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680697 ms (missed cycles : 2).[0m ×2 + 11.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.743ms + 11.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.735ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432332 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432332 ms (missed cycles : 2).[0m ×2 + 12.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.499ms + 12.69sINFOamclParticle filter update iteration stats: 4301 particles 723 points - 9.865ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917243 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917243 ms (missed cycles : 2).[0m ×2 + 13.19sINFOamclParticle filter update iteration stats: 2815 particles 723 points - 5.402ms + 13.69sWARNros2_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 + 13.71sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.226ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279866 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279866 ms (missed cycles : 2).[0m ×2 + 13.93sINFOobjective_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 + 13.94sINFOjoint_trajectory_controllerGot request to cancel goal + 13.94sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.94sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.94sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.96sERRORobjective_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: 1789599185.89900064 seconds ×3 + 14.05sWARNlocal_costmap.local_costmapSensor origin at (-0.53, 2.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 14.05sWARNlocal_costmap.local_costmapSensor origin at (-1.43, 2.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 14.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.098ms + 14.25sWARNlocal_costmap.local_costmapSensor origin at (-0.61, 3.18) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.25sWARNlocal_costmap.local_costmapSensor origin at (-1.51, 3.19) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.55sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789599186.48509455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.275ms + 14.92sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154120 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154120 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992344 ms (missed cycles : 2). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992344 ms (missed cycles : 2).[0m ×2 + 16.70sWARNros2_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 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528666 ms (missed cycles : 3). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528666 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.0s	98 errors · 35 warnings · 515 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.214ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.986ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2).[0m ×2 + 1.62sINFOjoint_trajectory_controllerGoal reached, success! + 1.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789599329.60866666 seconds ×3 + 1.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.18sINFOobjective_server_nodecaller: ×4 + 2.18sINFOobjective_server_nodetype: 0 ×4 + 2.18sINFOobjective_server_nodename: "" ×4 + 2.18sINFOobjective_server_nodeinstance_id: "" ×4 + 2.18sINFOobjective_server_node ×4 + 2.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789599330.22517419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.26sINFOmove_groupClearing octomap...[0m ×2 + 2.26sINFOmove_groupOctomap cleared.[0m ×2 + 2.28sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.28sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2).[0m ×2 + 2.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.804ms + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789599330.99530840 seconds ×3 + 3.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.57sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789599331.57060742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789599332.08309174 seconds ×3 + 4.22sWARNros2_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 + 4.24sWARNros2_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 + 4.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3).[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902874 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902874 ms (missed cycles : 2).[0m ×2 + 6.02sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491464 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491464 ms (missed cycles : 3).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828900 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828900 ms (missed cycles : 2).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268981 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268981 ms (missed cycles : 2).[0m ×2 + 9.46sWARNros2_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 + 9.86sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.86sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.87sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 9.88sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORweb_video_auth_proxy-37process has died [pid 7813, 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 + 9.88sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.88sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 9.89sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORweb_bridge_auth_proxy-36process has died [pid 7812, 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 + 9.89sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.89sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.90sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 9.91sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 9.92sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 9.93sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 9.93sINFOvideo_server-35process has finished cleanly [pid 7808] ×2 + 9.94sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 9.94sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 9.96sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 9.97sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 9.98sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 9.99sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.00sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.01sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.02sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.03sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.04sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.04sINFOcontroller_managerShutdown request received.... + 10.04sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.04sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.04sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.04sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.04sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.04sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.04sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.04sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.04sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.04sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.04sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.04sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.04sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.04sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.04sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.04sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.04sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.04sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.04sINFOcontroller_managerShutting down the controller manager. + 10.05sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.06sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.07sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.08sERRORmove_group-23process has died [pid 7743, 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_6idmxlap --params-file /tmp/launch_params_7u_yzmf_ --params-file /tmp/launch_params_ahq13is5 --params-file /tmp/launch_params_ckm3n6tn --params-file /tmp/launch_params_5peflb33 --params-file /tmp/launch_params_klfygflv']. ×2 + 10.08sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.09sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.10sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.11sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.11sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.12sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.12sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.12sINFOmap_serverDeactivating + 10.12sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.13sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.13sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.13sINFOcontroller_serverDeactivating + 10.13sINFOlocal_costmap.local_costmapDeactivating + 10.13sINFOvideo_server2026/09/16 22:55:37 INF shutting down gracefully ×2 + 10.13sINFOvideo_server2026/09/16 22:55:37 INF [WebRTC] closing ×2 + 10.13sINFOvideo_server2026/09/16 22:55:37 INF [RTSP] closing ×2 + 10.13sINFOvideo_server2026/09/16 22:55:37 INF waiting for running hooks ×2 + 10.13sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.13sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sWARNros2_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 + 10.13sINFOmap_serverCleaning up + 10.13sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.13sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.13sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.13sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.14sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.14sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.14sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.14sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.14sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.14sERRORmove_groupStack trace (most recent call last) in thread 8383: ×2 + 10.14sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.14sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.14sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff55af54a63, in __clone ×2 + 10.14sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff55aec7aa3, in ×2 + 10.14sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff55b159db3, in ×2 + 10.14sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7ff55b8bdb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.14sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff55b4eb620, in rclcpp::Rate::sleep() ×2 + 10.14sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff55b42dd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.14sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff55b3ef087, in ×2 + 10.14sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff55b128390, in __cxa_throw ×2 + 10.14sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff55b112a54, in std::terminate() ×2 + 10.14sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff55b1280d9, in ×2 + 10.14sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff55b112ff4, in ×2 + 10.14sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff55ae538fe, in abort ×2 + 10.14sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff55ae7027d, in raise ×2 + 10.14sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff55aec9b2c, in pthread_kill ×2 + 10.14sERRORmove_groupAborted (Signal sent by tkill() 7743 0) ×2 + 10.14sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.14sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.14sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.14sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.14sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.14sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.14sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.14sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.14sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.14sINFOodom_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 + 10.14sINFOodom_qos_relay.pymain() ×2 + 10.14sINFOodom_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 + 10.14sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.14sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.14sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.14sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.14sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.14sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.14sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.14sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.14sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.15sERRORamclThe bond connection to the lifecycle manager has been broken + 10.22sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.23sINFOcontroller_serverCleaning up + 10.23sINFOlocal_costmap.local_costmapCleaning up + 10.26sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.26sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.27sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.27sINFOsmoother_serverDeactivating + 10.27sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.27sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.27sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.27sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.27sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.27sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.28sINFOvelocity_smootherDeactivating + 10.28sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.28sINFOsmoother_serverCleaning up + 10.30sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.30sINFOplanner_serverDeactivating + 10.30sINFOglobal_costmap.global_costmapDeactivating + 10.40sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.40sINFOwaypoint_followerDeactivating + 10.40sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.51sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.51sINFObt_navigatorDeactivating + 10.51sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.62sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.62sINFObehavior_serverDeactivating + 10.62sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.74sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.74sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.74sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 10.74sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.74sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.74sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.74sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.74sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.74sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.74sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.74sINFOvelocity_smootherCleaning up + 10.74sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.74sINFOwaypoint_followerCleaning up + 10.77sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.77sINFObt_navigatorCleaning up + 10.95sINFObt_navigatorCompleted Cleaning up + 10.95sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.95sINFObehavior_serverCleaning up + 10.97sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7807] ×2 + 10.97sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.01sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.01sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.01sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.01sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.01sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.01sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.01sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.04sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7780] ×2 + 11.05sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.05sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.05sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7779] ×2 + 11.05sINFOui_teleop_bridge-32process has finished cleanly [pid 7803] ×2 + 11.06sINFOplanner_serverCleaning up + 11.06sINFOexecute_objective_bridge-31process has finished cleanly [pid 7802] ×2 + 11.07sINFOglobal_costmap.global_costmapCleaning up + 11.08sINFOparameter_manager_node-24process has finished cleanly [pid 7746] ×2 + 11.08sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.08sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.10sINFOwaypoint_manager_node-25process has finished cleanly [pid 7778] ×2 + 11.10sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7724] ×2 + 11.11sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7631] ×2 + 11.12sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.12sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.12sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.12sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.12sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.12sINFOstatic_transform_publisher-8process has finished cleanly [pid 7630] ×2 + 11.13sINFOstatic_transform_publisher-7process has finished cleanly [pid 7629] ×2 + 11.13sINFOcomponent_container_mt-30process has finished cleanly [pid 7801] ×2 + 11.13sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.13sINFOlidar_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 + 11.13sINFOlidar_flattener.pymain() ×2 + 11.13sINFOlidar_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 + 11.13sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.13sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.13sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.14sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.14sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.14sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.14sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.14sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.14sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.14sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.14sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.16sINFOstatic_transform_publisher-4process has finished cleanly [pid 7626] ×2 + 11.16sINFOobjective_server_node[2026-09-16 22:55:39.121] [moveit_pro_license] [critical] ×2 + 11.16sINFOobjective_server_node************************************************* ×4 + 11.16sINFOobjective_server_node* MoveIt Pro License ×2 + 11.16sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 11.16sINFOstatic_transform_publisher-3process has finished cleanly [pid 7625] ×2 + 11.18sERRORlidar_flattener.py-6process has died [pid 7628, 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_fieb6e6n']. ×2 + 11.20sERRORodom_qos_relay.py-5process has died [pid 7627, 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 + 11.21sINFOobjective_server_node_main-28process has finished cleanly [pid 7781] ×2 + 11.21sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.45sERRORcomponent_container_isolated-1process has died [pid 7623, 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_6zzneuer --params-file /tmp/launch_params_rjdklr3q -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.52sERRORcomponent_container_isolated-2process has died [pid 7624, 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_6zzneuer --params-file /tmp/launch_params_ay_a2uwc -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.17sINFOcomponent_container_mt-29process has finished cleanly [pid 7800] ×2 + 12.78sINFOros2_control_node-11process has finished cleanly [pid 7725] ×2 + 12.92sINFOweb_bridge-33process has finished cleanly [pid 7804] ×2 + 12.92sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	57 warnings · 142 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789599083.80706000 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×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 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.525ms + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789599084.39266467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3).[0m ×2 + 7.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211836 ms (missed cycles : 2). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211836 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025658 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025658 ms (missed cycles : 4).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122896 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122896 ms (missed cycles : 3).[0m ×2 + 9.48sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789599090.15280461 seconds ×3 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246291 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246291 ms (missed cycles : 2).[0m ×2 + 11.02sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 11.02sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 11.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789599091.73174334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.45sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185762 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185762 ms (missed cycles : 2).[0m ×2 + 12.50sWARNros2_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 + 12.52sWARNros2_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 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665540 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665540 ms (missed cycles : 2).[0m ×2 + 13.29sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641146 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641146 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.5s	56 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576506 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576506 ms (missed cycles : 4).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277911 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277911 ms (missed cycles : 2).[0m ×2 + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943046 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943046 ms (missed cycles : 2).[0m ×2 + 2.24sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.24sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.28sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789599249.88526154 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-2.62, 13.16) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.37sWARNlocal_costmap.local_costmapSensor origin at (-3.51, 13.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.26) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.47sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.10) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.82sINFOobjective_server_nodetype: 0 ×4 + 2.82sINFOobjective_server_nodename: "" ×4 + 2.82sINFOobjective_server_nodeinstance_id: "" ×4 + 2.82sINFOobjective_server_node ×4 + 2.86sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789599250.46698737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.597ms + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173273 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173273 ms (missed cycles : 3).[0m ×2 + 3.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.39sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 3.54sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.10sWARNros2_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 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384334 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384334 ms (missed cycles : 3).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052320 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052320 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 8.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 9.00sWARNros2_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 + 9.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.28sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 9.33sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.55sWARNros2_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 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 9.75sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 11.84sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.1s	42 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789599020.62377596 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.32sINFOobjective_server_nodecaller: ×4 + 3.32sINFOobjective_server_nodetype: 0 ×4 + 3.32sINFOobjective_server_nodename: "" ×4 + 3.32sINFOobjective_server_nodeinstance_id: "" ×4 + 3.32sINFOobjective_server_node ×4 + 3.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789599021.20654178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (7.4707e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.48sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.48sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2).[0m ×2 + 6.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 7.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069587 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069587 ms (missed cycles : 2).[0m ×2 + 7.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 8.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 8.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596873 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596873 ms (missed cycles : 3).[0m ×2 + 8.84sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789599026.68666863 seconds ×3 + 9.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.38sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789599027.26693606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673064 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673064 ms (missed cycles : 3).[0m ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 9.88sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 3.214ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621586 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621586 ms (missed cycles : 3).[0m ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728192 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728192 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.4s	27 warnings · 122 info
+ 0.00sWARNros2_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 ×4 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.211ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553225 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553225 ms (missed cycles : 3).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.157ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.214ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.986ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789599329.60866666 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789599330.22517419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.40sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.804ms + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789599330.99530840 seconds ×3 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789599331.57060742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789599332.08309174 seconds ×3 + 5.35sWARNros2_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 + 5.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902874 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902874 ms (missed cycles : 2).[0m ×2 + 7.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 321 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.45sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.45sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.46sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.46sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.46sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 0.98sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.98sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.98sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.98sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.98sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.98sINFOobjective_server_nodecaller: ×10 + 0.98sINFOobjective_server_nodetype: 0 ×10 + 0.98sINFOobjective_server_nodename: "" ×10 + 0.98sINFOobjective_server_nodeinstance_id: "" ×10 + 0.98sINFOobjective_server_node ×10 + 1.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.02sINFOmove_groupClearing octomap...[0m ×4 + 1.02sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.02sINFOmove_groupOctomap cleared.[0m ×4 + 1.02sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 1.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.15sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.16sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 2.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_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 + 2.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 3.55sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.55sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.59sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 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 ×3 + 3.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.61sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.61sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 4.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 4.96sINFOjoint_trajectory_controllerReceived new action goal + 4.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	23 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789599020.62377596 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789599021.20654178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (7.4707e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOjoint_trajectory_controllerReceived new action goal + 4.48sINFOjoint_trajectory_controllerAccepted new action goal + 4.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	23 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971190 ms (missed cycles : 2).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554115 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698660 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789599020.62377596 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890047 ms (missed cycles : 2).[0m ×2 + 3.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.161ms + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.32sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.32sINFOobjective_server_nodecaller: ×2 + 3.32sINFOobjective_server_nodetype: 0 ×2 + 3.32sINFOobjective_server_nodename: "" ×2 + 3.32sINFOobjective_server_nodeinstance_id: "" ×2 + 3.32sINFOobjective_server_node ×2 + 3.36sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789599021.20654178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892292 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (7.4707e-05 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOjoint_trajectory_controllerReceived new action goal + 4.48sINFOjoint_trajectory_controllerAccepted new action goal + 4.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185646 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	23 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	22 warnings · 75 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.540ms + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.944556 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.391ms + 1.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069587 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069587 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 2.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596873 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596873 ms (missed cycles : 3).[0m ×2 + 2.52sINFOjoint_trajectory_controllerGoal reached, success! + 2.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789599026.68666863 seconds ×3 + 2.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.09sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.09sINFOobjective_server_nodecaller: ×2 + 3.09sINFOobjective_server_nodetype: 0 ×2 + 3.09sINFOobjective_server_nodename: "" ×2 + 3.09sINFOobjective_server_nodeinstance_id: "" ×2 + 3.09sINFOobjective_server_node ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789599027.26693606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673064 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673064 ms (missed cycles : 3).[0m ×2 + 3.59sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 3.59sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.63sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 3.214ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621586 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621586 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728192 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728192 ms (missed cycles : 2).[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal + 5.62sINFOjoint_trajectory_controllerAccepted new action goal + 5.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	30 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789599083.80706000 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.525ms + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789599084.39266467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	30 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789599083.80706000 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.525ms + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789599084.39266467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	30 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789599083.80706000 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.525ms + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789599084.39266467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	30 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789599083.80706000 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.525ms + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789599084.39266467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	30 warnings · 71 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523950 ms (missed cycles : 3).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114966 ms (missed cycles : 3).[0m ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012315 ms (missed cycles : 4).[0m ×2 + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789599083.80706000 seconds ×3 + 3.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.21sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.68sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.68sINFOobjective_server_nodecaller: ×2 + 3.68sINFOobjective_server_nodetype: 0 ×2 + 3.68sINFOobjective_server_nodename: "" ×2 + 3.68sINFOobjective_server_nodeinstance_id: "" ×2 + 3.68sINFOobjective_server_node ×2 + 3.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.525ms + 3.72sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789599084.39266467 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031017 ms (missed cycles : 2).[0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305826 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975219 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	41 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 0.66sWARNros2_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 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4).[0m ×2 + 2.26sWARNros2_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 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789599122.60187888 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789599123.19251990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.627ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	41 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 0.66sWARNros2_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 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4).[0m ×2 + 2.26sWARNros2_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 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789599122.60187888 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789599123.19251990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.627ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	41 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902166 ms (missed cycles : 2).[0m ×2 + 0.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 0.66sWARNros2_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 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.148ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036028 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253302 ms (missed cycles : 4).[0m ×2 + 2.26sWARNros2_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 + 2.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! + 3.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851283 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789599122.60187888 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.83) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.23sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.69sINFOobjective_server_nodecaller: ×2 + 3.69sINFOobjective_server_nodetype: 0 ×2 + 3.69sINFOobjective_server_nodename: "" ×2 + 3.69sINFOobjective_server_nodeinstance_id: "" ×2 + 3.69sINFOobjective_server_node ×2 + 3.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789599123.19251990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.627ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775449 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618596 ms (missed cycles : 2).[0m ×2 + 5.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal + 6.19sINFOjoint_trajectory_controllerAccepted new action goal + 6.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137378 ms (missed cycles : 4).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	23 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	23 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	22 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179045 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124887 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672318 ms (missed cycles : 2).[0m ×2 + 2.29sINFOjoint_trajectory_controllerGoal reached, success! + 2.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.29sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789599256.34711242 seconds ×3 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.55sWARNros2_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 + 2.84sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.84sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.84sINFOobjective_server_nodecaller: ×2 + 2.84sINFOobjective_server_nodetype: 0 ×2 + 2.84sINFOobjective_server_nodename: "" ×2 + 2.84sINFOobjective_server_nodeinstance_id: "" ×2 + 2.84sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789599256.93746448 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.10sWARNros2_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 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845391 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646763 ms (missed cycles : 2).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012573 ms (missed cycles : 2).[0m ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	24 warnings · 120 info
+ 0.00sWARNros2_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 ×4 + 0.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.211ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553225 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553225 ms (missed cycles : 3).[0m ×2 + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.157ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.214ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368692 ms (missed cycles : 3).[0m ×2 + 2.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.986ms + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291051 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! + 2.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789599329.60866666 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789599330.22517419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.39sINFOmove_groupClearing octomap...[0m ×2 + 3.39sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.40sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.072061 ms (missed cycles : 2).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.804ms + 4.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789599330.99530840 seconds ×3 + 4.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652579 ms (missed cycles : 3).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789599331.57060742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789599332.08309174 seconds ×3 + 5.35sWARNros2_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 + 5.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380180 ms (missed cycles : 3).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	23 warnings · 332 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.54sINFOmove_groupClearing octomap...[0m ×4 + 2.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×4 + 2.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	23 warnings · 347 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 6.85sINFOjoint_trajectory_controllerReceived new action goal + 6.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.85sINFOjoint_trajectory_controllerAccepted new action goal + 6.85sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	26 warnings · 342 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997408 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997408 ms (missed cycles : 2).[0m ×2 + 0.08sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789598970.641 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 0.73sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.73sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.84sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.84sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.84sINFObehavior_serverActivating + 0.84sINFObehavior_serverActivating spin + 0.84sINFObehavior_serverActivating backup + 0.84sINFObehavior_serverActivating drive_on_heading + 0.84sINFObehavior_serverActivating assisted_teleop + 0.84sINFObehavior_serverActivating wait + 0.84sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.94sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.94sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.94sINFObt_navigatorActivating + 1.00sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 1.10sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.10sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.10sINFOwaypoint_followerActivating + 1.10sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.20sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.20sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.20sINFOvelocity_smootherActivating + 1.20sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.31sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.31sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 2.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.60sINFOobjective_server_nodecaller: ×10 + 3.60sINFOobjective_server_nodetype: 0 ×10 + 3.60sINFOobjective_server_nodename: "" ×10 + 3.60sINFOobjective_server_nodeinstance_id: "" ×10 + 3.60sINFOobjective_server_node ×10 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.64sINFOmove_groupClearing octomap...[0m ×4 + 3.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×4 + 3.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 7.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2
− skipped	—	addtovector.xml	0.0s	23 warnings · 339 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997408 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997408 ms (missed cycles : 2).[0m ×2 + 0.08sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789598970.641 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 0.73sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.73sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.84sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.84sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.84sINFObehavior_serverActivating + 0.84sINFObehavior_serverActivating spin + 0.84sINFObehavior_serverActivating backup + 0.84sINFObehavior_serverActivating drive_on_heading + 0.84sINFObehavior_serverActivating assisted_teleop + 0.84sINFObehavior_serverActivating wait + 0.84sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.94sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.94sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.94sINFObt_navigatorActivating + 1.00sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 1.10sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.10sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.10sINFOwaypoint_followerActivating + 1.10sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.20sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.20sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.20sINFOvelocity_smootherActivating + 1.20sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.31sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.31sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.31sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 2.62sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.07sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×13 + 3.07sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.09sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.60sINFOobjective_server_nodecaller: ×10 + 3.60sINFOobjective_server_nodetype: 0 ×10 + 3.60sINFOobjective_server_nodename: "" ×10 + 3.60sINFOobjective_server_nodeinstance_id: "" ×10 + 3.60sINFOobjective_server_node ×10 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.64sINFOmove_groupClearing octomap...[0m ×4 + 3.64sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×4 + 3.64sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 4.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.19sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.78sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.53sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.18sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	23 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2
− skipped	—	createvector.xml	0.0s	23 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	23 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562468 ms (missed cycles : 3).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.37sINFOwaypoint_followerActivating + 0.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.47sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.47sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.47sINFOvelocity_smootherActivating + 0.47sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.89sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.35sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.35sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.35sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.87sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.87sINFOobjective_server_nodecaller: ×10 + 2.87sINFOobjective_server_nodetype: 0 ×10 + 2.87sINFOobjective_server_nodename: "" ×10 + 2.87sINFOobjective_server_nodeinstance_id: "" ×10 + 2.87sINFOobjective_server_node ×10 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.91sINFOmove_groupClearing octomap...[0m ×4 + 2.91sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×4 + 2.91sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.46sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 4.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.05sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_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 + 4.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.56sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2
− skipped	—	teleoperate.xml	0.0s	20 warnings · 332 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.10sINFOvelocity_smootherActivating + 0.10sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 1.52sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.97sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.97sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.50sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.50sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.50sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.50sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.50sINFOobjective_server_nodecaller: ×10 + 2.50sINFOobjective_server_nodetype: 0 ×10 + 2.50sINFOobjective_server_nodename: "" ×10 + 2.50sINFOobjective_server_nodeinstance_id: "" ×10 + 2.50sINFOobjective_server_node ×10 + 2.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.54sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.54sINFOmove_groupClearing octomap...[0m ×4 + 2.54sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.54sINFOmove_groupOctomap cleared.[0m ×4 + 2.54sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 5.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.08sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 6.48sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2

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

8 skip

− skipped	—	calibrate_eye_in_hand_camera.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794757 ms (missed cycles : 3).[0m ×2 + 0.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.96sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.96sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149551 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.49sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.49sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.49sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.49sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.49sINFOobjective_server_nodecaller: ×10 + 1.49sINFOobjective_server_nodetype: 0 ×10 + 1.49sINFOobjective_server_nodename: "" ×10 + 1.49sINFOobjective_server_nodeinstance_id: "" ×10 + 1.49sINFOobjective_server_node ×10 + 1.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789598974.96996975 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.53sINFOmove_groupClearing octomap...[0m ×4 + 1.53sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.53sINFOmove_groupOctomap cleared.[0m ×4 + 1.53sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789598974.98178554 seconds ×3 + 2.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.08sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789598975.56119514 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789598975.57131982 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188800 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.67sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789598976.14775586 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789598976.29834843 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010785 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789598976.90407705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_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 + 3.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789598976.96419597 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.06sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789598977.54631233 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289921 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128057 ms (missed cycles : 4).[0m ×2 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188630 ms (missed cycles : 4).[0m ×2