MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾(no parent)

1 pass

✓ passed	—	test_base_link_has_single_tf_parent	19.8s	12 errors · 321 warnings · 1565 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/2026-09-17-04-48-42-243646-00eb96974110-7554 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.68sINFOstatic_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' + 4.68sINFOstatic_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' + 4.68sINFOstatic_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' + 4.68sINFOstatic_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. + 4.87sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 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_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.92sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052578 ms (missed cycles : 7). + 4.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.99sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.99sINFOros2_control_node-11process started with pid [7706] ×2 + 5.00sINFOmove_group-23process started with pid [7722] ×2 + 5.00sINFOparameter_manager_node-24process started with pid [7723] ×2 + 5.00sINFOwaypoint_manager_node-25process started with pid [7777] ×2 + 5.00sINFOmove_joint_resampler_node-26process started with pid [7780] ×2 + 5.00sINFOmove_end_effector_resampler_node-27process started with pid [7781] ×2 + 5.00sINFOobjective_server_node_main-28process started with pid [7786] ×2 + 5.00sINFOcomponent_container_mt-29process started with pid [7789] ×2 + 5.00sINFOcomponent_container_mt-30process started with pid [7790] ×2 + 5.00sINFOexecute_objective_bridge-31process started with pid [7791] ×2 + 5.00sINFOui_teleop_bridge-32process started with pid [7795] ×2 + 5.00sINFOweb_bridge-33process started with pid [7799] ×2 + 5.00sINFOtf2_web_republisher_node-34process started with pid [7815] ×2 + 5.00sINFOvideo_server-35process started with pid [7819] ×2 + 5.00sINFOweb_bridge_auth_proxy-36process started with pid [7820] ×2 + 5.00sINFOweb_video_auth_proxy-37process started with pid [7823] ×2 + 5.00sINFOcomponent_container_isolated-1process started with pid [7604] ×2 + 5.00sINFOcomponent_container_isolated-2process started with pid [7605] ×2 + 5.00sINFOstatic_transform_publisher-3process started with pid [7606] ×2 + 5.00sINFOstatic_transform_publisher-4process started with pid [7607] ×2 + 5.00sINFOodom_qos_relay.py-5process started with pid [7608] ×2 + 5.00sINFOlidar_flattener.py-6process started with pid [7609] ×2 + 5.00sINFOstatic_transform_publisher-7process started with pid [7610] ×2 + 5.00sINFOstatic_transform_publisher-8process started with pid [7611] ×2 + 5.00sINFOscan_to_scan_filter_chain-9process started with pid [7612] ×2 + 5.00sINFOscan_to_scan_filter_chain-10process started with pid [7705] ×2 + 5.00sINFOros2-12process started with pid [7707] ×2 + 5.00sINFOros2-13process started with pid [7708] ×2 + 5.00sINFOros2-14process started with pid [7709] ×2 + 5.00sINFOros2-15process started with pid [7710] ×2 + 5.00sINFOros2-16process started with pid [7711] ×2 + 5.00sINFOros2-17process started with pid [7712] ×2 + 5.00sINFOros2-18process started with pid [7713] ×2 + 5.00sINFOros2-19process started with pid [7716] ×2 + 5.00sINFOros2-20process started with pid [7717] ×2 + 5.00sINFOros2-21process started with pid [7718] ×2 + 5.00sINFOros2-22process started with pid [7721] ×2 + 5.02sINFOcontroller_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. + 5.03sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 5.03sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 5.03sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 5.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 5.03sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 5.03sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 5.03sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 5.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 5.03sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 5.03sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 5.03sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 5.03sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 5.03sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 5.03sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 5.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 5.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 5.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 5.03sWARNros2_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 + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.052578 ms (missed cycles : 7).[0m ×2 + 5.09sINFOcontroller_serverCreating controller server + 5.15sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 5.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 5.15sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 5.16sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.16sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 5.16sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 5.17sINFOlocal_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. + 5.18sINFOlocal_costmap.local_costmapCreating Costmap + 5.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.19sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 5.19sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.19sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 5.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 5.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 5.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 5.23sINFOmap_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. + 5.23sINFOmap_serverCreating + 5.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 5.26sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 5.27sINFOsmoother_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. + 5.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 5.28sINFOrobot_state_publisherRobot initialized + 5.28sINFOcomponent_container_mtRobot initialized[0m ×2 + 5.28sINFOcontroller_managerReceived robot description from topic. + 5.28sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 5.29sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 5.29sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 5.29sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 5.29sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.30sINFOsmoother_serverCreating smoother server + 5.30sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.30sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 5.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 5.32sINFOvideo_server2026/09/17 04:48:49 INF MediaMTX v1.20.1, linux, amd64 ×2 + 5.32sINFOvideo_server2026/09/17 04:48:49 INF configuration loaded from /tmp/moveit-webrtc-q684jwc_/mediamtx.yml ×2 + 5.32sINFOvideo_server2026/09/17 04:48:49 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 5.32sINFOvideo_server2026/09/17 04:48:49 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 5.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 5.32sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 5.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 5.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 5.33sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 5.33sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 5.36sINFOplanner_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. + 5.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 5.37sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.38sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.38sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.39sINFOplanner_serverCreating + 5.39sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.40sINFOlifecycle_manager_localizationCreating + 5.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.44sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.45sINFOglobal_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. + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 5.45sINFOglobal_costmap.global_costmapCreating Costmap + 5.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.46sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 5.46sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 5.46sINFOmap_serverConfiguring + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 5.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 5.49sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.49sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 5.51sINFObehavior_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. + 5.57sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 5.57sINFOamclConfiguring + 5.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 5.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 5.58sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 5.58sINFOmap_serverActivating + 5.58sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 5.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 5.63sINFObt_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. + 5.63sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.376433 seconds + 5.63sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.63sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.63sINFOmove_groupLoaded robot model in 0.376433 seconds[0m ×2 + 5.63sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.64sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.65sINFObt_navigatorCreating + 5.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 5.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 5.66sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.66sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 5.67sINFOwaypoint_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. + 5.68sINFOwaypoint_followerCreating + 5.69sINFOlifecycle_manager_localizationServer map_server connected with bond. + 5.69sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 5.69sINFOamclActivating + 5.69sINFOamclSubscribed to initial_pose_topic: /initialpose + 5.69sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 5.70sINFOamclSubscribed to map_topic: /map + 5.70sINFOamclSubscribed to scan_topic: /scan_merged + 5.70sINFOamclCreated reinitialize_global_localization service + 5.70sINFOamclCreated request_nomotion_update service + 5.70sWARNlaser_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. + 5.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 5.70sINFOamclA new map was received + 5.70sINFOamclInitializing particle filter instance + 5.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 5.71sWARNscan_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 + 5.73sINFOvelocity_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. + 5.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 5.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 5.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 5.77sINFOlifecycle_manager_navigationCreating + 5.79sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.80sWARNlaser_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. + 5.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.82sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.82sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.82sINFOcontroller_serverConfiguring controller interface + 5.82sINFOcontroller_servergetting progress checker plugins.. + 5.82sINFOcontroller_servergetting goal checker plugins.. + 5.82sINFOcontroller_serverController frequency set to 20.0000Hz + 5.82sINFOlocal_costmap.local_costmapConfiguring + 5.83sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.86sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.89sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.89sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.89sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.93sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.94sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.94sINFOcontroller_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 + 6.01sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 6.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963235 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963235 ms (missed cycles : 2).[0m ×2 + 6.04sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 6.05sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 6.05sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 6.08sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 6.08sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 6.08sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 6.08sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 6.09sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 6.09sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 6.09sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 6.09sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 6.09sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 6.10sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 6.10sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 6.10sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 6.10sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 6.10sINFOcontroller_serverOptimizer reset ×2 + 6.11sINFOcontroller_serverController Server has FollowPath controllers available. + 6.13sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 6.13sINFOsmoother_serverConfiguring smoother server + 6.14sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 6.14sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 6.15sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 6.15sINFOplanner_serverConfiguring + 6.15sINFOglobal_costmap.global_costmapConfiguring + 6.16sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 6.17sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 6.17sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 6.17sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 6.18sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 6.22sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 6.22sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 6.22sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 6.26sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 6.26sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 6.26sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 6.28sINFOplanner_serverPlanner Server has GridBased planners available. + 6.30sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 6.30sINFObehavior_serverConfiguring + 6.31sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 6.31sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 6.31sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 6.31sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 6.32sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 6.32sINFOamclParticle filter initialization completed + 6.32sINFOamclInitializing particles from estimated pose and covariance + 6.32sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 6.32sINFObehavior_serverConfiguring spin + 6.33sINFObehavior_serverConfiguring backup + 6.34sINFObehavior_serverConfiguring drive_on_heading + 6.35sINFObehavior_serverConfiguring assisted_teleop + 6.36sINFObehavior_serverConfiguring wait + 6.37sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 6.37sINFObt_navigatorConfiguring + 6.38sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 6.38sWARNbt_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 + 6.39sINFOlifecycle_manager_localizationServer amcl connected with bond. + 6.39sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 6.39sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 6.42sINFOamclThe bond connection to the lifecycle manager is now fully formed + 6.48sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 6.48sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 6.48sWARNmove_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. + 6.48sWARNmove_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. + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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. + 6.48sWARNmove_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 + 6.48sWARNmove_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_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 + 6.48sWARNmove_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_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.[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 + 6.50sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.55sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.55sINFOwaypoint_followerConfiguring + 6.58sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.58sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.58sINFOvelocity_smootherConfiguring velocity smoother + 6.59sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.59sINFOcontroller_serverActivating + 6.59sINFOlocal_costmap.local_costmapActivating + 6.59sINFOlocal_costmap.local_costmapChecking transform + 6.59sINFOlocal_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. ×14 + 6.66sINFOwaypoint_manager_nodeLoaded robot model in 0.145761 seconds[0m ×2 + 6.66sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.66sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.78sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.78sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.78sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.78sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.78sINFOmove_group[2026-09-17 04:48:50.668] [moveit_pro_license] [info] ×2 + 6.78sINFOmove_group************************************************* ×4 + 6.78sINFOmove_group* MoveIt Pro License ×2 + 6.78sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.81sINFOros2_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 + 6.81sINFOros2_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 + 7.04sWARNwaypoint_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. + 7.04sWARNwaypoint_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. + 7.04sWARNwaypoint_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 + 7.04sWARNwaypoint_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 + 7.05sWARNwaypoint_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. + 7.05sWARNwaypoint_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. + 7.05sWARNwaypoint_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 + 7.05sWARNwaypoint_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 + 7.05sWARNwaypoint_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. + 7.05sWARNwaypoint_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 + 7.05sWARNwaypoint_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. + 7.05sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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. + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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 + 7.06sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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. + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308575 ms (missed cycles : 2). + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.07sWARNwaypoint_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 + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308575 ms (missed cycles : 2).[0m ×2 + 7.07sWARNwaypoint_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. + 7.07sWARNwaypoint_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 + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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. + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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. + 7.08sWARNwaypoint_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 + 7.08sWARNwaypoint_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. + 7.08sWARNwaypoint_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. + 7.09sWARNwaypoint_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 + 7.09sWARNwaypoint_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 + 7.09sWARNwaypoint_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. + 7.09sWARNwaypoint_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 + 7.09sWARNwaypoint_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. + 7.09sWARNwaypoint_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 + 7.09sWARNwaypoint_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. + 7.09sWARNwaypoint_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. + 7.10sWARNwaypoint_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 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 + 7.10sWARNwaypoint_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 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 + 7.10sWARNwaypoint_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. + 7.10sWARNwaypoint_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 + 7.11sWARNwaypoint_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. + 7.11sWARNwaypoint_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 + 7.29sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 7.29sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 7.29sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 7.29sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 7.29sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 7.29sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 7.29sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 7.29sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 7.29sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.29sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 7.29sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 7.29sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 7.30sINFOmove_groupStarting planning scene monitor[0m ×2 + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 7.30sINFOmove_groupListening to '/planning_scene'[0m ×2 + 7.30sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 7.30sINFOmove_groupListening to 'collision_object'[0m ×2 + 7.30sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 7.30sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 7.51sINFOwaypoint_manager_node[2026-09-17 04:48:51.395] [moveit_pro_license] [info] ×2 + 7.51sINFOwaypoint_manager_node************************************************* ×4 + 7.51sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 7.51sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.62sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.62sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.62sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.62sWARNros2_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 + 7.62sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.62sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.63sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.63sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.63sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.63sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.63sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.63sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.63sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.63sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.63sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.63sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.63sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.63sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.63sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.63sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.63sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.63sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.63sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.63sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.63sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.63sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.63sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.78sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 7.78sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 7.78sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 7.78sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 7.79sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 7.79sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 7.87sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 7.87sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 7.87sINFOros2_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 + 7.87sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.87sWARNros2_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 + 7.88sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 7.88sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 7.88sINFOplatform_velocity_controllerconfigure successful + 7.88sINFOros2_control_nodeconfigure successful[0m ×6 + 7.89sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 7.89sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 7.89sINFOcontroller_managerSuccessfully switched controllers! ×20 + 7.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 7.89sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 7.89sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 7.90sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.90sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.91sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.96sINFOobjective_server_node[2026-09-17 04:48:51.843] [moveit_pro_license] [info] ×2 + 7.96sINFOobjective_server_node************************************************* ×4 + 7.96sINFOobjective_server_node* MoveIt Pro License ×2 + 7.96sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.96sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 8.00sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 8.00sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 8.04sINFOobjective_server_nodeLoaded robot model in 0.0343552 seconds[0m ×2 + 8.04sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 8.04sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270696 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270696 ms (missed cycles : 2).[0m ×2 + 8.19sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 8.19sINFOcontroller_managerLoading controller 'vacuum_gripper' + 8.19sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 8.19sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 8.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 8.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 8.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.20sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 8.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 8.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 8.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 8.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 8.23sINFOcomponent_container_mtDiscovered sensor source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 8.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 8.23sINFOcomponent_container_mtDiscovered sensor source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 8.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 8.23sINFOcomponent_container_mtDiscovered sensor source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 8.23sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front' + 8.23sINFOcomponent_container_mtDiscovered sensor source '/scan_front' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front'[0m ×2 + 8.23sWARNcomponent_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 + 8.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered' + 8.24sINFOcomponent_container_mtDiscovered sensor source '/scan_front_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_front_filtered'[0m ×2 + 8.24sINFOros2-15process has finished cleanly [pid 7710] ×2 + 8.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged' + 8.24sINFOcomponent_container_mtDiscovered sensor source '/scan_merged' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_merged'[0m ×2 + 8.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear' + 8.24sINFOcomponent_container_mtDiscovered sensor source '/scan_rear' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear'[0m ×2 + 8.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered' + 8.24sINFOcomponent_container_mtDiscovered sensor source '/scan_rear_filtered' -> '/moveit_pro_ui/streaming_point_cloud/laser_scan/scan_rear_filtered'[0m ×2 + 8.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 8.24sINFOcomponent_container_mtDiscovered sensor source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 8.24sINFOstreaming_point_cloud_publisher_nodeDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 8.24sINFOcomponent_container_mtDiscovered sensor source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 8.24sINFOstreaming_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) + 8.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.25sINFOcomponent_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 + 8.25sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 8.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 8.26sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 8.27sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 8.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 8.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 8.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 8.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.27sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 8.27sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 8.28sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 8.28sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 8.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.44sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.45sINFOstreaming_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) + 8.45sINFOcomponent_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 + 8.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.46sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so + 8.46sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libsurface_coverage_accumulator.so[0m ×2 + 8.47sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.47sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.47sWARNobjective_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 + 8.47sWARNobjective_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. + 8.48sWARNobjective_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 + 8.48sWARNobjective_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. + 8.48sWARNobjective_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. + 8.48sWARNobjective_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 + 8.48sWARNobjective_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 + 8.56sINFOobjective_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 + 8.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.57sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.57sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.57sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.57sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.58sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.61sINFOros2-16process has finished cleanly [pid 7711] ×2 + 8.61sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.61sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.67sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.67sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode> + 8.68sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.68sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::surface_coverage_accumulator::SurfaceCoverageAccumulatorNode>[0m ×2 + 8.69sINFOcomponent_container_mtLoaded robot model in 0.458416 seconds[0m ×2 + 8.69sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.69sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/surface_coverage_accumulator' in container '/moveit_studio_point_cloud_container' ×2 + 8.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 8.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 8.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.77sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.77sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.77sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 8.78sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 9.08sINFOmove_groupMoveGroup debug mode is ON + 9.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 9.08sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 9.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 9.12sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 9.12sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 9.12sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 9.12sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 9.13sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 9.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396820 ms (missed cycles : 4). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396820 ms (missed cycles : 4).[0m ×2 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNplanning_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. + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNcomponent_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 + 9.18sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.19sWARNplanning_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. + 9.19sWARNplanning_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. + 9.19sWARNcomponent_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 + 9.19sWARNcomponent_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 + 9.26sINFOmove_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 ****************************************************** + 9.26sINFOmove_group ×8 + 9.26sINFOmove_group****************************************************** ×4 + 9.26sINFOmove_group* MoveGroup using: ×2 + 9.26sINFOmove_group* - apply_planning_scene_service ×2 + 9.26sINFOmove_group* - clear_octomap_service ×2 + 9.26sINFOmove_group* - get_group_urdf ×2 + 9.26sINFOmove_group* - load_geometry_from_file ×2 + 9.26sINFOmove_group* - get_planning_scene_service ×2 + 9.26sINFOmove_group* - kinematics_service ×2 + 9.26sINFOmove_group* - save_geometry_to_file ×2 + 9.26sINFOmove_group* - GetPlanningGroups ×2 + 9.26sINFOmove_group* - URDFPlanningSceneCapability ×2 + 9.26sINFOmove_group[0m ×2 + 9.26sINFOmove_group[92mYou can start planning now![0m ×2 + 9.26sINFOros2_control_node[2026-09-17 04:48:53.145] [info] Controller state will be published at 20 Hz. ×2 + 9.26sINFOros2_control_node[2026-09-17 04:48:53.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.37sINFOcomponent_container_mt[2026-09-17 04:48:53.254] [moveit_pro_license] [info] ×2 + 9.37sINFOcomponent_container_mt************************************************* ×4 + 9.37sINFOcomponent_container_mt* MoveIt Pro License ×2 + 9.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.56sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 9.56sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 9.56sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 9.56sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 9.57sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 9.57sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 9.59sINFOros2-21process has finished cleanly [pid 7718] ×2 + 9.62sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 9.62sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 9.62sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 9.62sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 9.63sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 9.63sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 9.63sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 9.63sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 9.72sWARNros2_control_nodeCamera render tick took 0.92 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.75sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.75sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.75sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.75sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.75sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.75sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[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 + 9.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.96sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.96sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.96sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.96sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.96sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 9.96sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 10.00sINFOros2-13process has finished cleanly [pid 7708] ×2 + 10.01sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 10.01sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 10.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 10.02sINFOforce_torque_sensor_broadcasterconfigure successful + 10.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 10.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 10.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 10.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397162 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397162 ms (missed cycles : 3).[0m ×2 + 10.31sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.31sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.32sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.32sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 10.32sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.32sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 10.32sWARNros2_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 + 10.34sINFOros2-12process has finished cleanly [pid 7707] ×2 + 10.36sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 10.36sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 10.36sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.36sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.70sWARNobjective_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 + 10.74sINFOros2_control_node[2026-09-17 04:48:54.628] [info] Controller state will be published at 20 Hz. ×2 + 10.74sINFOros2_control_node[2026-09-17 04:48:54.629] [info] JointVelocityController 'on_configure' succeeded. ×2 + 10.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.77sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789620532.680 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.05sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 11.05sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 11.08sINFOros2-22process has finished cleanly [pid 7721] ×2 + 11.12sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 11.13sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 11.17sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 11.17sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 11.18sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 11.18sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948006 ms (missed cycles : 5). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.948006 ms (missed cycles : 5).[0m ×2 + 11.53sINFOros2_control_node[2026-09-17 04:48:55.412] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.53sINFOros2_control_node[2026-09-17 04:48:55.415] [info] Controller state will be published at 10 Hz. ×2 + 11.53sINFOros2_control_node[2026-09-17 04:48:55.416] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 11.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 11.87sINFOros2-20process has finished cleanly [pid 7717] ×2 + 11.92sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.92sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.93sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.93sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.93sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.93sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.93sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.22sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 12.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.22sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 12.26sINFOros2-18process has finished cleanly [pid 7713] ×2 + 12.27sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 12.27sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 12.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.28sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694321 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694321 ms (missed cycles : 2).[0m ×2 + 12.62sINFOros2_control_node[2026-09-17 04:48:56.500] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.62sINFOros2_control_node[2026-09-17 04:48:56.502] [info] Controller state will be published at 10 Hz. ×2 + 12.62sINFOros2_control_node[2026-09-17 04:48:56.503] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.93sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.93sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.94sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.94sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 12.94sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.94sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 12.98sINFOros2-19process has finished cleanly [pid 7716] ×2 + 13.00sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 13.00sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 13.00sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 13.00sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 13.00sINFOplatform_velocity_controller_nav2configure successful + 13.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 13.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 13.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 13.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 13.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q + 13.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ke8fdudo --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_jjva2lsi --params-file /tmp/launch_params_6mgeqv5q [0m ×2 + 13.36sINFOros2-17process has finished cleanly [pid 7712] ×2 + 13.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 13.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766021 ms (missed cycles : 3). + 13.40sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 13.40sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766021 ms (missed cycles : 3).[0m ×2 + 13.40sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 13.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 13.41sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 13.41sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 13.41sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 13.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 13.59sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 13.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.59sINFOlocal_costmap.local_costmapstart + 13.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 13.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 13.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 13.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 13.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 13.60sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.60sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.61sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 13.61sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 13.67sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1789620535.967 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 13.69sWARNcontroller_serverParameter controller_server.verbose not found + 13.70sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 13.75sINFOros2-14process has finished cleanly [pid 7709] ×2 + 13.80sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 13.80sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 13.80sINFOsmoother_serverActivating + 13.80sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 13.91sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 13.91sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 13.91sINFOplanner_serverActivating + 13.91sINFOglobal_costmap.global_costmapActivating + 13.91sINFOglobal_costmap.global_costmapChecking transform + 13.91sINFOglobal_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. + 14.09sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1789620537.127 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 14.35sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 4.888ms + 14.41sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1789620538.269563, but only time 1789620538.688569 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334441 ms (missed cycles : 3). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.334441 ms (missed cycles : 3).[0m ×2 + 14.84sWARNros2_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 + 14.91sINFOglobal_costmap.global_costmapstart + 15.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242674 ms (missed cycles : 3). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242674 ms (missed cycles : 3).[0m ×2 + 15.96sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 15.96sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 16.06sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 16.06sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 16.06sINFObehavior_serverActivating + 16.06sINFObehavior_serverActivating spin + 16.06sINFObehavior_serverActivating backup + 16.06sINFObehavior_serverActivating drive_on_heading + 16.06sINFObehavior_serverActivating assisted_teleop + 16.06sINFObehavior_serverActivating wait + 16.06sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 16.17sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 16.17sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 16.17sINFObt_navigatorActivating + 16.22sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 16.33sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 16.33sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 16.33sINFOwaypoint_followerActivating + 16.33sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 16.43sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 16.43sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 16.43sINFOvelocity_smootherActivating + 16.43sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[0m ×2 + 16.54sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 16.54sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 16.54sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 17.67sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 18.70sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.70sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 18.70sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 18.70sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 18.70sINFOobjective_server_nodeparameter_overrides: [] ×10 + 18.70sINFOobjective_server_nodecaller: ×10 + 18.70sINFOobjective_server_nodetype: 0 ×10 + 18.70sINFOobjective_server_nodename: "" ×10 + 18.70sINFOobjective_server_nodeinstance_id: "" ×10 + 18.70sINFOobjective_server_node ×10 + 18.74sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 18.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 18.75sINFOmove_groupClearing octomap...[0m ×4 + 18.75sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 18.75sINFOmove_groupOctomap cleared.[0m ×4 + 18.75sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 18.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 19.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.30sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 19.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 19.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.89sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 20.17sWARNros2_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 + 20.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.64sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 20.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.69sINFOobjective_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 + 20.69sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.69sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 20.71sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.71sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.71sWARNros2_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 + 20.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 20.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 21.27sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 21.27sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 21.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 21.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 21.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 21.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 21.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 21.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 21.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	65.8s	3 errors · 299 warnings · 254 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.473ms + 0.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.061ms + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112177 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112177 ms (missed cycles : 2).[0m ×2 + 1.08sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.407ms + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.339ms + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094191 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094191 ms (missed cycles : 2).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929105 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929105 ms (missed cycles : 4).[0m ×2 + 2.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.028ms + 2.87sINFOobjective_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 + 2.89sINFOjoint_trajectory_controllerGot request to cancel goal + 2.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.89sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.93sERRORobjective_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: 1789620753.02032804 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 2.98sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.292ms + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.48sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789620753.61118722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217566 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217566 ms (missed cycles : 2).[0m ×2 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.449ms + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197701 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197701 ms (missed cycles : 5).[0m ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023918 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023918 ms (missed cycles : 2).[0m ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.19sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.19sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.19sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.19sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.22sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.24sWARNros2_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 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405663 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405663 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181020 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181020 ms (missed cycles : 5).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.000ms + 9.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.257ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394780 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.394780 ms (missed cycles : 2).[0m ×2 + 9.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.775ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.546ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923230 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923230 ms (missed cycles : 3).[0m ×2 + 10.86sINFOamclParticle filter update iteration stats: 4042 particles 723 points - 7.568ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010701 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010701 ms (missed cycles : 2).[0m ×2 + 11.40sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 11.44sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 5.517ms + 12.02sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 3.724ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780335 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780335 ms (missed cycles : 2).[0m ×2 + 12.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 13.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.822ms + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446744 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446744 ms (missed cycles : 3).[0m ×2 + 13.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 14.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192211 ms (missed cycles : 4). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192211 ms (missed cycles : 4).[0m ×2 + 15.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090054 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090054 ms (missed cycles : 2).[0m ×2 + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.341ms + 16.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182037 ms (missed cycles : 3). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182037 ms (missed cycles : 3).[0m ×2 + 16.81sWARNros2_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 + 16.83sWARNros2_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 + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260836 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260836 ms (missed cycles : 2).[0m ×2 + 18.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.858ms + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111562 ms (missed cycles : 2). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111562 ms (missed cycles : 2).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086065 ms (missed cycles : 4). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086065 ms (missed cycles : 4).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 20.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788521 ms (missed cycles : 3). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788521 ms (missed cycles : 3).[0m ×2 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927655 ms (missed cycles : 2). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927655 ms (missed cycles : 2).[0m ×2 + 21.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 22.37sWARNros2_control_nodeCamera render tick took 0.61 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 22.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.63 s); lidar_front (0.63 s); lidar_rear (0.63 s); wrist_camera (0.63 s). The render path has stopped producing new frames for them.[0m ×4 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477621 ms (missed cycles : 2). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477621 ms (missed cycles : 2).[0m ×2 + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 23.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245484 ms (missed cycles : 3). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245484 ms (missed cycles : 3).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.430ms + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.758ms + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596728 ms (missed cycles : 3). + 25.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596728 ms (missed cycles : 3).[0m ×2 + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904138 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904138 ms (missed cycles : 3).[0m ×2 + 26.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.155ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976073 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976073 ms (missed cycles : 2).[0m ×2 + 27.47sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 27.50sWARNros2_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 ×6 + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614604 ms (missed cycles : 2). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614604 ms (missed cycles : 2).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.623ms ×3 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132669 ms (missed cycles : 3). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132669 ms (missed cycles : 3).[0m ×2 + 29.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.679ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.562ms + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129889 ms (missed cycles : 3). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129889 ms (missed cycles : 3).[0m ×2 + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 31.47sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395512 ms (missed cycles : 5). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395512 ms (missed cycles : 5).[0m ×2 + 32.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.659ms ×2 + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.242105 ms (missed cycles : 6). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.242105 ms (missed cycles : 6).[0m ×2 + 33.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 34.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458414 ms (missed cycles : 5). + 34.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458414 ms (missed cycles : 5).[0m ×2 + 34.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.56sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.13sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827888 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827888 ms (missed cycles : 2).[0m ×2 + 36.10sINFOobjective_server_nodePlanning for 16 path waypoints. ×3 + 36.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564117 ms (missed cycles : 4). + 36.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564117 ms (missed cycles : 4).[0m ×2 + 37.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146246 ms (missed cycles : 2). + 37.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146246 ms (missed cycles : 2).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540148 ms (missed cycles : 4). + 38.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.540148 ms (missed cycles : 4).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812742 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812742 ms (missed cycles : 3).[0m ×2 + 39.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.987ms + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884681 ms (missed cycles : 2). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884681 ms (missed cycles : 2).[0m ×2 + 40.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 41.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.026ms + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578763 ms (missed cycles : 5). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.578763 ms (missed cycles : 5).[0m ×2 + 42.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694706 ms (missed cycles : 3). + 42.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694706 ms (missed cycles : 3).[0m ×2 + 43.66sWARNros2_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 + 43.68sWARNros2_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 + 43.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727618 ms (missed cycles : 3). + 43.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727618 ms (missed cycles : 3).[0m ×2 + 44.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135230 ms (missed cycles : 2). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135230 ms (missed cycles : 2).[0m ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106813 ms (missed cycles : 2). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106813 ms (missed cycles : 2).[0m ×2 + 47.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112441 ms (missed cycles : 7). + 47.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112441 ms (missed cycles : 7).[0m ×2 + 47.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730248 ms (missed cycles : 4). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730248 ms (missed cycles : 4).[0m ×2 + 48.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 49.19sWARNros2_control_nodeCamera render tick took 0.62 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880195 ms (missed cycles : 2). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880195 ms (missed cycles : 2).[0m ×2 + 49.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.64 s); lidar_front (0.64 s); lidar_rear (0.64 s); wrist_camera (0.64 s). The render path has stopped producing new frames for them.[0m ×2 + 49.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.444ms + 49.87sINFOobjective_server_nodePlanning for 17 path waypoints. ×6 + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.583341 ms (missed cycles : 6). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.583341 ms (missed cycles : 6).[0m ×2 + 51.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892042 ms (missed cycles : 2). + 51.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892042 ms (missed cycles : 2).[0m ×2 + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339834 ms (missed cycles : 3). + 52.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339834 ms (missed cycles : 3).[0m ×2 + 53.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419931 ms (missed cycles : 3). + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419931 ms (missed cycles : 3).[0m ×2 + 54.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683445 ms (missed cycles : 3). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683445 ms (missed cycles : 3).[0m ×2 + 55.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.109ms + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831066 ms (missed cycles : 3). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831066 ms (missed cycles : 3).[0m ×2 + 56.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 56.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779600 ms (missed cycles : 3). + 56.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779600 ms (missed cycles : 3).[0m ×2 + 57.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009121 ms (missed cycles : 3). + 57.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009121 ms (missed cycles : 3).[0m ×2 + 58.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 58.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076818 ms (missed cycles : 3). + 58.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076818 ms (missed cycles : 3).[0m ×2 + 59.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946200 ms (missed cycles : 3). + 59.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.946200 ms (missed cycles : 3).[0m ×2 + 60.25sWARNros2_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 + 61.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655735 ms (missed cycles : 4). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.655735 ms (missed cycles : 4).[0m ×2 + 62.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140692 ms (missed cycles : 4). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140692 ms (missed cycles : 4).[0m ×2 + 63.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720313 ms (missed cycles : 4). + 63.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720313 ms (missed cycles : 4).[0m ×2 + 64.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657743 ms (missed cycles : 3). + 64.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657743 ms (missed cycles : 3).[0m ×2 + 64.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.607ms + 65.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731154 ms (missed cycles : 3). + 65.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731154 ms (missed cycles : 3).[0m ×2 + 65.70sWARNros2_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 + 66.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 66.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853901 ms (missed cycles : 5). + 66.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853901 ms (missed cycles : 5).[0m ×2 + 66.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 67.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 67.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524698 ms (missed cycles : 3). + 67.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524698 ms (missed cycles : 3).[0m ×2 + 68.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982377 ms (missed cycles : 3). + 68.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982377 ms (missed cycles : 3).[0m ×2 + 68.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789620818.85134315 seconds ×3 + 68.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 68.88sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.88sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 69.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 69.29sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 69.34sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789620819.43135881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.38sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.38sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 69.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350510 ms (missed cycles : 3). + 69.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350510 ms (missed cycles : 3).[0m ×2 + 69.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.747ms + 70.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968192 ms (missed cycles : 2). + 70.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968192 ms (missed cycles : 2).[0m ×2 + 71.00sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 71.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 72.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 72.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	252 warnings · 199 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×6 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190374 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190374 ms (missed cycles : 2).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642155 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642155 ms (missed cycles : 2).[0m ×2 + 8.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.637ms + 9.16sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 9.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.57 s); lidar_front (0.57 s); lidar_rear (0.57 s); wrist_camera (0.57 s). The render path has stopped producing new frames for them.[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082902 ms (missed cycles : 3). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082902 ms (missed cycles : 3).[0m ×2 + 9.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.689ms + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267314 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267314 ms (missed cycles : 3).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.286ms + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.717ms + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735105 ms (missed cycles : 4). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735105 ms (missed cycles : 4).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.341ms + 12.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.883ms + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849909 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849909 ms (missed cycles : 3).[0m ×2 + 12.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.510ms + 13.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.423ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878031 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878031 ms (missed cycles : 2).[0m ×2 + 13.84sINFOamclParticle filter update iteration stats: 4735 particles 723 points - 7.356ms + 14.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×4 + 14.42sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 8.259ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894094 ms (missed cycles : 5). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.894094 ms (missed cycles : 5).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 3.494ms + 15.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621278 ms (missed cycles : 5). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.621278 ms (missed cycles : 5).[0m ×2 + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.705ms + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452395 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452395 ms (missed cycles : 3).[0m ×2 + 17.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.748ms ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821538 ms (missed cycles : 4). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821538 ms (missed cycles : 4).[0m ×2 + 17.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.822ms + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534630 ms (missed cycles : 2). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534630 ms (missed cycles : 2).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.998ms + 19.40sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.72sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 19.74sWARNros2_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 + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725144 ms (missed cycles : 4). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725144 ms (missed cycles : 4).[0m ×2 + 20.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 20.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.280ms + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670848 ms (missed cycles : 2). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670848 ms (missed cycles : 2).[0m ×2 + 21.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.639ms + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827652 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827652 ms (missed cycles : 2).[0m ×2 + 22.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.411ms + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.292ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976849 ms (missed cycles : 5). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976849 ms (missed cycles : 5).[0m ×2 + 23.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 24.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.277ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779239 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779239 ms (missed cycles : 3).[0m ×2 + 24.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678000 ms (missed cycles : 4). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.678000 ms (missed cycles : 4).[0m ×2 + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.793ms + 25.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.903ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698357 ms (missed cycles : 6). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698357 ms (missed cycles : 6).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.845ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.046ms + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141291 ms (missed cycles : 2). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141291 ms (missed cycles : 2).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031094 ms (missed cycles : 2). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031094 ms (missed cycles : 2).[0m ×2 + 28.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.231ms + 29.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.655ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884677 ms (missed cycles : 3). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884677 ms (missed cycles : 3).[0m ×2 + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.577ms + 30.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916162 ms (missed cycles : 2). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916162 ms (missed cycles : 2).[0m ×2 + 30.77sWARNros2_control_nodeCamera render tick took 0.64 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 30.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.66 s); lidar_front (0.66 s); lidar_rear (0.66 s); wrist_camera (0.66 s). The render path has stopped producing new frames for them.[0m ×2 + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 31.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.631ms + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129259 ms (missed cycles : 5). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129259 ms (missed cycles : 5).[0m ×2 + 32.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.021ms + 32.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.630ms + 32.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485298 ms (missed cycles : 4). + 32.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485298 ms (missed cycles : 4).[0m ×2 + 33.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 33.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597621 ms (missed cycles : 3). + 33.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597621 ms (missed cycles : 3).[0m ×2 + 34.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.937ms + 34.86sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437730 ms (missed cycles : 3). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437730 ms (missed cycles : 3).[0m ×2 + 35.81sWARNros2_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 + 35.83sWARNros2_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 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678670 ms (missed cycles : 3). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678670 ms (missed cycles : 3).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612338 ms (missed cycles : 5). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612338 ms (missed cycles : 5).[0m ×2 + 38.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844106 ms (missed cycles : 3). + 38.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844106 ms (missed cycles : 3).[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324133 ms (missed cycles : 4). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324133 ms (missed cycles : 4).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577381 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577381 ms (missed cycles : 3).[0m ×2 + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155421 ms (missed cycles : 4). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155421 ms (missed cycles : 4).[0m ×2 + 41.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.110ms + 42.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642276 ms (missed cycles : 3). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642276 ms (missed cycles : 3).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093129 ms (missed cycles : 5). + 43.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093129 ms (missed cycles : 5).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682233 ms (missed cycles : 2). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682233 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653989 ms (missed cycles : 4). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.653989 ms (missed cycles : 4).[0m ×2 + 46.69sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169901 ms (missed cycles : 4). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169901 ms (missed cycles : 4).[0m ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597811 ms (missed cycles : 5). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.597811 ms (missed cycles : 5).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407183 ms (missed cycles : 3). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407183 ms (missed cycles : 3).[0m ×2 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177515 ms (missed cycles : 2). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177515 ms (missed cycles : 2).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569633 ms (missed cycles : 5). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.569633 ms (missed cycles : 5).[0m ×2 + 52.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028116 ms (missed cycles : 3). + 52.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.028116 ms (missed cycles : 3).[0m ×2 + 53.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558177 ms (missed cycles : 3). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558177 ms (missed cycles : 3).[0m ×2 + 54.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157849 ms (missed cycles : 2). + 54.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157849 ms (missed cycles : 2).[0m ×2 + 55.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760876 ms (missed cycles : 2). + 55.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760876 ms (missed cycles : 2).[0m ×2 + 56.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.814ms + 56.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728372 ms (missed cycles : 2). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728372 ms (missed cycles : 2).[0m ×2 + 57.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032760 ms (missed cycles : 2). + 57.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032760 ms (missed cycles : 2).[0m ×2 + 58.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500464 ms (missed cycles : 5). + 58.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500464 ms (missed cycles : 5).[0m ×2 + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298881 ms (missed cycles : 2). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298881 ms (missed cycles : 2).[0m ×2 + 60.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 60.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789620882.62999368 seconds ×3 + 60.50sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.50sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 60.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616257 ms (missed cycles : 4). + 60.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616257 ms (missed cycles : 4).[0m ×2 + 60.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.99sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 61.00sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 61.00sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 61.04sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789620883.21873927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.43sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 61.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.157ms + 61.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850896 ms (missed cycles : 2). + 61.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850896 ms (missed cycles : 2).[0m ×2 + 62.56sWARNros2_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 + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294155 ms (missed cycles : 4). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294155 ms (missed cycles : 4).[0m ×2 + 63.08sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 63.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132757 ms (missed cycles : 2). + 63.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132757 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.2s	242 warnings · 209 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2).[0m ×2 + 0.28sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 0.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×8 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.969ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829600 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829600 ms (missed cycles : 4).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454025 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454025 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789620594.24381471 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567921 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567921 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789620594.82345414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.823ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429411 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429411 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101166 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101166 ms (missed cycles : 2).[0m ×2 + 5.74sWARNros2_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 + 5.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.85sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.85sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167888 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167888 ms (missed cycles : 2).[0m ×2 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572285 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572285 ms (missed cycles : 3).[0m ×2 + 8.45sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 3.652ms + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050740 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050740 ms (missed cycles : 2).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.583ms + 9.52sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 2.846ms + 9.99sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098174 ms (missed cycles : 3). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098174 ms (missed cycles : 3).[0m ×2 + 10.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.941ms + 10.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.698ms + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291580 ms (missed cycles : 2). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291580 ms (missed cycles : 2).[0m ×2 + 11.14sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 11.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 11.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691716 ms (missed cycles : 4). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.691716 ms (missed cycles : 4).[0m ×2 + 12.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 12.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377225 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377225 ms (missed cycles : 3).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 13.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398028 ms (missed cycles : 4). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.398028 ms (missed cycles : 4).[0m ×2 + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 15.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.880ms + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189455 ms (missed cycles : 2).[0m ×2 + 15.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 16.16sWARNros2_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 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796177 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796177 ms (missed cycles : 2).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.647ms + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012477 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012477 ms (missed cycles : 2).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.669ms + 18.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085511 ms (missed cycles : 3). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085511 ms (missed cycles : 3).[0m ×2 + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329236 ms (missed cycles : 2). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329236 ms (missed cycles : 2).[0m ×2 + 20.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 20.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 21.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858699 ms (missed cycles : 2). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858699 ms (missed cycles : 2).[0m ×2 + 21.28sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 21.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 21.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.223ms + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790939 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790939 ms (missed cycles : 2).[0m ×2 + 22.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.867ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.241ms + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637711 ms (missed cycles : 3). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637711 ms (missed cycles : 3).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.374ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306362 ms (missed cycles : 2). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306362 ms (missed cycles : 2).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.386ms + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132670 ms (missed cycles : 2). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132670 ms (missed cycles : 2).[0m ×2 + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.559ms + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424643 ms (missed cycles : 4). + 26.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.424643 ms (missed cycles : 4).[0m ×2 + 26.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.761ms + 27.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×6 + 27.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.388ms + 27.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458637 ms (missed cycles : 6). + 27.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.458637 ms (missed cycles : 6).[0m ×2 + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 28.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370254 ms (missed cycles : 3). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370254 ms (missed cycles : 3).[0m ×2 + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680696 ms (missed cycles : 3). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680696 ms (missed cycles : 3).[0m ×2 + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.638ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896315 ms (missed cycles : 3). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896315 ms (missed cycles : 3).[0m ×2 + 30.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 31.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089124 ms (missed cycles : 5). + 31.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.089124 ms (missed cycles : 5).[0m ×2 + 31.72sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005152 ms (missed cycles : 3). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.005152 ms (missed cycles : 3).[0m ×2 + 32.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 33.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000007 ms (missed cycles : 2). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000007 ms (missed cycles : 2).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 34.26sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039839 ms (missed cycles : 4). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039839 ms (missed cycles : 4).[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265887 ms (missed cycles : 3). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265887 ms (missed cycles : 3).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903180 ms (missed cycles : 3). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903180 ms (missed cycles : 3).[0m ×2 + 36.99sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 37.58sWARNros2_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 + 37.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905072 ms (missed cycles : 3). + 37.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905072 ms (missed cycles : 3).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797387 ms (missed cycles : 4). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797387 ms (missed cycles : 4).[0m ×2 + 40.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833811 ms (missed cycles : 3). + 40.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833811 ms (missed cycles : 3).[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833402 ms (missed cycles : 2). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833402 ms (missed cycles : 2).[0m ×2 + 41.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.065ms + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093333 ms (missed cycles : 5). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093333 ms (missed cycles : 5).[0m ×2 + 42.87sWARNros2_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 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231192 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231192 ms (missed cycles : 2).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095951 ms (missed cycles : 4). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095951 ms (missed cycles : 4).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167136 ms (missed cycles : 2). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167136 ms (missed cycles : 2).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213161 ms (missed cycles : 2). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213161 ms (missed cycles : 2).[0m ×2 + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378933 ms (missed cycles : 3). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378933 ms (missed cycles : 3).[0m ×2 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805872 ms (missed cycles : 3). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805872 ms (missed cycles : 3).[0m ×2 + 49.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904310 ms (missed cycles : 3). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904310 ms (missed cycles : 3).[0m ×2 + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367989 ms (missed cycles : 4). + 50.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367989 ms (missed cycles : 4).[0m ×2 + 51.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 51.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403852 ms (missed cycles : 4). + 51.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.403852 ms (missed cycles : 4).[0m ×2 + 52.89sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 52.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254760 ms (missed cycles : 4). + 52.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.254760 ms (missed cycles : 4).[0m ×2 + 54.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793819 ms (missed cycles : 3). + 54.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793819 ms (missed cycles : 3).[0m ×2 + 55.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970389 ms (missed cycles : 3). + 55.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970389 ms (missed cycles : 3).[0m ×2 + 55.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 56.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933443 ms (missed cycles : 2). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933443 ms (missed cycles : 2).[0m ×2 + 57.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3). + 57.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3).[0m ×2 + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3). + 58.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3).[0m ×2 + 58.81sWARNros2_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 + 59.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3). + 59.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3).[0m ×2 + 59.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789620651.42358541 seconds ×3 + 59.92sWARNlocal_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. + 59.92sWARNlocal_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. + 59.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 60.02sWARNlocal_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 + 60.02sWARNlocal_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 + 60.41sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.41sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2).[0m ×2 + 60.45sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789620652.00892520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.144ms + 60.83sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 61.22sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 61.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3). + 61.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3).[0m ×2 + 62.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3). + 62.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3).[0m ×2 + 63.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4). + 63.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	51.7s	249 warnings · 220 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5).[0m ×2 + 0.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×8 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms ×2 + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789620690.44872022 seconds ×3 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×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 `Plan Path Along Surface` starting at time: 1789620691.02617526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.763ms + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.23, 8.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.13, 8.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (5.29e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.609ms + 4.94sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900461 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900461 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074599 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074599 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.934ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091192 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091192 ms (missed cycles : 2).[0m ×2 + 9.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.878ms + 10.47sWARNros2_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 + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.201ms + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285723 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.285723 ms (missed cycles : 4).[0m ×2 + 11.05sWARNros2_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 + 11.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.282ms + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.138ms + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754988 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754988 ms (missed cycles : 3).[0m ×2 + 12.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.943ms + 12.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.145ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939225 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.939225 ms (missed cycles : 3).[0m ×2 + 13.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.345ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305957 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.305957 ms (missed cycles : 3).[0m ×2 + 13.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.642ms + 14.44sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 7.374ms + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138705 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138705 ms (missed cycles : 2).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.002ms + 15.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956515 ms (missed cycles : 3). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956515 ms (missed cycles : 3).[0m ×2 + 16.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 16.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616206 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616206 ms (missed cycles : 2).[0m ×2 + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 17.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432550 ms (missed cycles : 3). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432550 ms (missed cycles : 3).[0m ×2 + 19.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.700ms + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542140 ms (missed cycles : 2). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542140 ms (missed cycles : 2).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.394ms + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216894 ms (missed cycles : 3). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216894 ms (missed cycles : 3).[0m ×2 + 20.86sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 21.49sWARNros2_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 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 21.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775258 ms (missed cycles : 2). + 21.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775258 ms (missed cycles : 2).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.624ms + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703424 ms (missed cycles : 3). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703424 ms (missed cycles : 3).[0m ×2 + 23.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614368 ms (missed cycles : 3). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614368 ms (missed cycles : 3).[0m ×2 + 23.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026292 ms (missed cycles : 3). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.026292 ms (missed cycles : 3).[0m ×2 + 25.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014709 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014709 ms (missed cycles : 3).[0m ×2 + 26.28sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 26.89sWARNros2_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 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.888ms + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405686 ms (missed cycles : 3). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405686 ms (missed cycles : 3).[0m ×2 + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.569ms ×2 + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059108 ms (missed cycles : 3). + 28.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059108 ms (missed cycles : 3).[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.548ms + 29.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064273 ms (missed cycles : 3). + 29.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064273 ms (missed cycles : 3).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.642ms + 30.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755548 ms (missed cycles : 4). + 30.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755548 ms (missed cycles : 4).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.906ms + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.644ms + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817184 ms (missed cycles : 3). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817184 ms (missed cycles : 3).[0m ×2 + 31.81sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×6 + 31.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.967ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539358 ms (missed cycles : 3). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539358 ms (missed cycles : 3).[0m ×2 + 32.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.613ms ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872788 ms (missed cycles : 3). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872788 ms (missed cycles : 3).[0m ×2 + 33.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.848ms + 34.34sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590130 ms (missed cycles : 3). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.590130 ms (missed cycles : 3).[0m ×2 + 34.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.693ms + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042045 ms (missed cycles : 5). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042045 ms (missed cycles : 5).[0m ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777400 ms (missed cycles : 5). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777400 ms (missed cycles : 5).[0m ×2 + 37.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.62 s); lidar_front (0.62 s); lidar_rear (0.62 s); wrist_camera (0.62 s). The render path has stopped producing new frames for them.[0m ×2 + 37.68sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140155 ms (missed cycles : 4). + 37.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.140155 ms (missed cycles : 4).[0m ×2 + 38.45sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 38.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782559 ms (missed cycles : 3). + 38.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782559 ms (missed cycles : 3).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916229 ms (missed cycles : 2). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916229 ms (missed cycles : 2).[0m ×2 + 40.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 41.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164495 ms (missed cycles : 3). + 41.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164495 ms (missed cycles : 3).[0m ×2 + 41.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.789ms + 41.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 42.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596436 ms (missed cycles : 3). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596436 ms (missed cycles : 3).[0m ×2 + 43.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706232 ms (missed cycles : 2). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706232 ms (missed cycles : 2).[0m ×2 + 43.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 44.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770405 ms (missed cycles : 2). + 44.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770405 ms (missed cycles : 2).[0m ×2 + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314662 ms (missed cycles : 2). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314662 ms (missed cycles : 2).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647533 ms (missed cycles : 3). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647533 ms (missed cycles : 3).[0m ×2 + 47.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.617ms + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644502 ms (missed cycles : 4). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644502 ms (missed cycles : 4).[0m ×2 + 47.98sWARNros2_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 + 48.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.385ms + 48.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101533 ms (missed cycles : 5). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101533 ms (missed cycles : 5).[0m ×2 + 48.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.606ms + 49.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 49.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149363 ms (missed cycles : 2). + 49.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149363 ms (missed cycles : 2).[0m ×2 + 49.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.573ms + 50.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477346 ms (missed cycles : 3). + 50.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477346 ms (missed cycles : 3).[0m ×2 + 51.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.666ms + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790143 ms (missed cycles : 2). + 51.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790143 ms (missed cycles : 2).[0m ×2 + 52.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712759 ms (missed cycles : 2). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712759 ms (missed cycles : 2).[0m ×2 + 52.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 53.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224251 ms (missed cycles : 2). + 53.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224251 ms (missed cycles : 2).[0m ×2 + 54.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 54.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789620742.19712877 seconds ×3 + 55.05sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.05sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 55.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527913 ms (missed cycles : 4). + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527913 ms (missed cycles : 4).[0m ×2 + 55.35sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.35sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 55.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 55.51sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 55.55sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789620742.77750707 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 55.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 55.99sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 56.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788814 ms (missed cycles : 4). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788814 ms (missed cycles : 4).[0m ×2 + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454304 ms (missed cycles : 3). + 57.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454304 ms (missed cycles : 3).[0m ×2 + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805225 ms (missed cycles : 3). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805225 ms (missed cycles : 3).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	182 warnings · 394 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.19sINFOobjective_server_nodecaller: ×12 + 1.19sINFOobjective_server_nodetype: 0 ×12 + 1.19sINFOobjective_server_nodename: "" ×12 + 1.19sINFOobjective_server_nodeinstance_id: "" ×12 + 1.19sINFOobjective_server_node ×12 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 ×10 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.15sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.15sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186847 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186847 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982051 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.982051 ms (missed cycles : 2).[0m ×2 + 8.49sWARNros2_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 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235875 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235875 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593880 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593880 ms (missed cycles : 3).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370910 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370910 ms (missed cycles : 3).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746005 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746005 ms (missed cycles : 2).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384008 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384008 ms (missed cycles : 3).[0m ×2 + 13.24sWARNros2_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 ×6 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769106 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769106 ms (missed cycles : 4).[0m ×2 + 14.89sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.997ms + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583587 ms (missed cycles : 3). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583587 ms (missed cycles : 3).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346098 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346098 ms (missed cycles : 3).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763977 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763977 ms (missed cycles : 2).[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853237 ms (missed cycles : 3). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853237 ms (missed cycles : 3).[0m ×2 + 19.12sWARNros2_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 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488862 ms (missed cycles : 3). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488862 ms (missed cycles : 3).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345131 ms (missed cycles : 3). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345131 ms (missed cycles : 3).[0m ×2 + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990478 ms (missed cycles : 3). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990478 ms (missed cycles : 3).[0m ×2 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179040 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179040 ms (missed cycles : 2).[0m ×2 + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156219 ms (missed cycles : 2). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156219 ms (missed cycles : 2).[0m ×2 + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116210 ms (missed cycles : 2). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116210 ms (missed cycles : 2).[0m ×2 + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304154 ms (missed cycles : 2). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304154 ms (missed cycles : 2).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917652 ms (missed cycles : 4). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.917652 ms (missed cycles : 4).[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733472 ms (missed cycles : 3). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733472 ms (missed cycles : 3).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728621 ms (missed cycles : 5). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.728621 ms (missed cycles : 5).[0m ×2 + 29.14sWARNros2_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 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170232 ms (missed cycles : 4). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170232 ms (missed cycles : 4).[0m ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933340 ms (missed cycles : 2). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933340 ms (missed cycles : 2).[0m ×2 + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725144 ms (missed cycles : 3). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.725144 ms (missed cycles : 3).[0m ×2 + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748255 ms (missed cycles : 2). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748255 ms (missed cycles : 2).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486235 ms (missed cycles : 3). + 34.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486235 ms (missed cycles : 3).[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337850 ms (missed cycles : 4). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337850 ms (missed cycles : 4).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081104 ms (missed cycles : 2). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081104 ms (missed cycles : 2).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185865 ms (missed cycles : 3). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185865 ms (missed cycles : 3).[0m ×2 + 38.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169332 ms (missed cycles : 4). + 38.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169332 ms (missed cycles : 4).[0m ×2 + 39.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238465 ms (missed cycles : 2). + 39.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238465 ms (missed cycles : 2).[0m ×2 + 40.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225928 ms (missed cycles : 2). + 40.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225928 ms (missed cycles : 2).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935410 ms (missed cycles : 2). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935410 ms (missed cycles : 2).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500914 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500914 ms (missed cycles : 3).[0m ×2 + 42.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.956ms + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3).[0m ×2 + 44.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3). + 44.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3).[0m ×2 + 45.09sWARNros2_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 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4).[0m ×2 + 46.75sINFOjoint_trajectory_controllerGoal reached, success! + 46.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789620588.20100236 seconds ×3 + 46.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2). + 46.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2).[0m ×2 + 47.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 47.34sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 47.38sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789620588.78368902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3).[0m ×2 + 48.40sINFOobjective_server_nodeFound path in 0 iterations (2.2988e-05 s). ×2 + 48.47sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 48.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5).[0m ×2 + 50.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2).[0m ×2 + 50.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.6s	160 warnings · 186 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570630 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570630 ms (missed cycles : 6).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484241 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484241 ms (missed cycles : 3).[0m ×2 + 1.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.61sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.65sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789620657.84905767 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006218 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006218 ms (missed cycles : 2).[0m ×2 + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588710 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588710 ms (missed cycles : 2).[0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789620659.42857146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.10sWARNros2_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279726 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279726 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479252 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479252 ms (missed cycles : 3).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 5.83sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.84sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.84sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.84sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270095 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270095 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870237 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870237 ms (missed cycles : 2).[0m ×2 + 8.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.203ms + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260130 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260130 ms (missed cycles : 2).[0m ×2 + 9.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.585ms + 9.52sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.937ms + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800984 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800984 ms (missed cycles : 3).[0m ×2 + 10.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×4 + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.086ms + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.438ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357367 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357367 ms (missed cycles : 3).[0m ×2 + 11.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.066ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.830ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813690 ms (missed cycles : 2). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813690 ms (missed cycles : 2).[0m ×2 + 12.34sINFOamclParticle filter update iteration stats: 4218 particles 723 points - 7.629ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027206 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027206 ms (missed cycles : 2).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 5.150ms + 13.45sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.953ms + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366447 ms (missed cycles : 3). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366447 ms (missed cycles : 3).[0m ×2 + 14.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.072ms + 14.59sWARNros2_control_nodeCamera render tick took 0.57 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044231 ms (missed cycles : 5). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044231 ms (missed cycles : 5).[0m ×2 + 15.20sWARNros2_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 + 15.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.430ms + 15.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488061 ms (missed cycles : 3). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488061 ms (missed cycles : 3).[0m ×2 + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.777ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825163 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825163 ms (missed cycles : 2).[0m ×2 + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.576ms + 18.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 18.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947710 ms (missed cycles : 3). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947710 ms (missed cycles : 3).[0m ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589438 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589438 ms (missed cycles : 2).[0m ×2 + 19.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.831ms + 19.76sWARNros2_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 + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 20.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133530 ms (missed cycles : 4). + 20.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.133530 ms (missed cycles : 4).[0m ×2 + 20.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668918 ms (missed cycles : 3). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668918 ms (missed cycles : 3).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.402ms + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991158 ms (missed cycles : 3). + 22.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991158 ms (missed cycles : 3).[0m ×2 + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 23.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.460ms + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233354 ms (missed cycles : 4). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233354 ms (missed cycles : 4).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686428 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686428 ms (missed cycles : 2).[0m ×2 + 24.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.533ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906061 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906061 ms (missed cycles : 2).[0m ×2 + 25.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×4 + 25.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730693 ms (missed cycles : 3). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730693 ms (missed cycles : 3).[0m ×2 + 26.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.504ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136918 ms (missed cycles : 2). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136918 ms (missed cycles : 2).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287471 ms (missed cycles : 3). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287471 ms (missed cycles : 3).[0m ×2 + 29.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.769ms + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950312 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950312 ms (missed cycles : 2).[0m ×2 + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 30.58sWARNros2_control_nodeCamera render tick took 0.58 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5).[0m ×2 + 31.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3).[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2).[0m ×2 + 34.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789620690.44872022 seconds ×3 + 34.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 34.28sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.28sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.78sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.82sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789620691.02617526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.763ms + 34.88sWARNlocal_costmap.local_costmapSensor origin at (-2.23, 8.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 34.88sWARNlocal_costmap.local_costmapSensor origin at (-3.13, 8.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2).[0m ×2 + 35.28sINFOobjective_server_nodeFound path in 0 iterations (5.29e-07 s). ×2 + 35.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.609ms + 35.96sWARNros2_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 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	16.1s	104 warnings · 243 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.60 s); lidar_front (0.60 s); lidar_rear (0.60 s); wrist_camera (0.60 s). The render path has stopped producing new frames for them.[0m ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032760 ms (missed cycles : 2). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032760 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500464 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500464 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298881 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298881 ms (missed cycles : 2).[0m ×2 + 3.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 3.06sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1789620882.62999368 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 3.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.15sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616257 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616257 ms (missed cycles : 4).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.64sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.64sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.64sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.64sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.64sINFOobjective_server_nodecaller: ×6 + 3.64sINFOobjective_server_nodetype: 0 ×6 + 3.64sINFOobjective_server_nodename: "" ×6 + 3.64sINFOobjective_server_nodeinstance_id: "" ×6 + 3.64sINFOobjective_server_node ×6 + 3.65sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.88) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.65sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1789620883.21873927 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.157ms + 4.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850896 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.850896 ms (missed cycles : 2).[0m ×2 + 5.21sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294155 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294155 ms (missed cycles : 4).[0m ×2 + 5.73sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132757 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132757 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819173 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819173 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630298 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630298 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054769 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054769 ms (missed cycles : 2).[0m ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 10.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 10.11sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 10.20sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 10.25sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 10.37sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 10.42sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 10.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 10.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×4 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259639 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259639 ms (missed cycles : 2).[0m ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 11.14sWARNros2_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 + 11.16sINFOobjective_server_nodeFound path in 33 iterations (0.0325629 s). ×2 + 11.62sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.69sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876121 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876121 ms (missed cycles : 3).[0m ×2 + 12.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] ×2 + 12.35sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050873 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050873 ms (missed cycles : 3).[0m ×2 + 12.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X] ×2 + 13.19sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359861 ms (missed cycles : 3). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359861 ms (missed cycles : 3).[0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484207 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484207 ms (missed cycles : 2).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.531ms + 16.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164611 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164611 ms (missed cycles : 2).[0m ×2 + 16.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.996ms + 17.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.217ms + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3).[0m ×2 + 18.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.365ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2).[0m ×2 + 19.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789620898.70529604 seconds ×3 + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2).[0m ×2 + 19.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.72sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.79sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789620899.32113719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.80sINFOmove_groupClearing octomap...[0m ×2 + 19.80sINFOmove_groupOctomap cleared.[0m ×2 + 19.83sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 19.83sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 20.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.107ms + 20.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789620899.90136957 seconds ×3 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3).[0m ×2 + 20.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.91sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789620900.47460985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.47sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789620900.99474859 seconds ×3 + 21.59sWARNros2_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 + 21.71sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4).[0m ×2 + 22.66sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.1s	107 errors · 38 warnings · 523 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.217ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.365ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2).[0m ×2 + 1.88sINFOjoint_trajectory_controllerGoal reached, success! + 1.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789620898.70529604 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.44sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.44sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.44sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.44sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.44sINFOobjective_server_nodecaller: ×4 + 2.44sINFOobjective_server_nodetype: 0 ×4 + 2.44sINFOobjective_server_nodename: "" ×4 + 2.44sINFOobjective_server_nodeinstance_id: "" ×4 + 2.44sINFOobjective_server_node ×4 + 2.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789620899.32113719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.52sINFOmove_groupClearing octomap...[0m ×2 + 2.52sINFOmove_groupOctomap cleared.[0m ×2 + 2.55sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 2.55sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.107ms + 3.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789620899.90136957 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.63sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789620900.47460985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789620900.99474859 seconds ×3 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 4.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145125 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145125 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951585 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951585 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541447 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541447 ms (missed cycles : 3).[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972999 ms (missed cycles : 4). + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.972999 ms (missed cycles : 4).[0m ×2 + 9.50sWARNros2_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 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206838 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206838 ms (missed cycles : 3).[0m ×2 + 10.38sERRORweb_video_auth_proxy-37process[web_video_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORweb_bridge_auth_proxy-36process[web_bridge_auth_proxy-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORvideo_server-35process[video_server-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORtf2_web_republisher_node-34process[tf2_web_republisher_node-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge-33process[web_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORui_teleop_bridge-32process[ui_teleop_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORexecute_objective_bridge-31process[execute_objective_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_mt-29process[component_container_mt-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORobjective_server_node_main-28process[objective_server_node_main-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORmove_end_effector_resampler_node-27process[move_end_effector_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_joint_resampler_node-26process[move_joint_resampler_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORwaypoint_manager_node-25process[waypoint_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORparameter_manager_node-24process[parameter_manager_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sINFOweb_video_auth_proxy-37sending signal 'SIGTERM' to process[web_video_auth_proxy-37] ×2 + 10.41sERRORmove_group-23process[move_group-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORweb_video_auth_proxy-37process has died [pid 7823, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.41sERRORros2_control_node-11process[ros2_control_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sINFOweb_bridge_auth_proxy-36sending signal 'SIGTERM' to process[web_bridge_auth_proxy-36] ×2 + 10.42sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge_auth_proxy-36process has died [pid 7820, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.42sERRORscan_to_scan_filter_chain-9process[scan_to_scan_filter_chain-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORstatic_transform_publisher-7process[static_transform_publisher-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORlidar_flattener.py-6process[lidar_flattener.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOvideo_server-35sending signal 'SIGTERM' to process[video_server-35] ×2 + 10.46sINFOtf2_web_republisher_node-34sending signal 'SIGTERM' to process[tf2_web_republisher_node-34] ×2 + 10.47sINFOweb_bridge-33sending signal 'SIGTERM' to process[web_bridge-33] ×2 + 10.48sINFOui_teleop_bridge-32sending signal 'SIGTERM' to process[ui_teleop_bridge-32] ×2 + 10.49sINFOexecute_objective_bridge-31sending signal 'SIGTERM' to process[execute_objective_bridge-31] ×2 + 10.49sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.51sINFOcomponent_container_mt-29sending signal 'SIGTERM' to process[component_container_mt-29] ×2 + 10.52sINFOobjective_server_node_main-28sending signal 'SIGTERM' to process[objective_server_node_main-28] ×2 + 10.53sINFOmove_end_effector_resampler_node-27sending signal 'SIGTERM' to process[move_end_effector_resampler_node-27] ×2 + 10.53sINFOvideo_server-35process has finished cleanly [pid 7819] ×2 + 10.54sINFOmove_joint_resampler_node-26sending signal 'SIGTERM' to process[move_joint_resampler_node-26] ×2 + 10.55sINFOwaypoint_manager_node-25sending signal 'SIGTERM' to process[waypoint_manager_node-25] ×2 + 10.56sINFOparameter_manager_node-24sending signal 'SIGTERM' to process[parameter_manager_node-24] ×2 + 10.57sINFOmove_group-23sending signal 'SIGTERM' to process[move_group-23] ×2 + 10.58sINFOros2_control_node-11sending signal 'SIGTERM' to process[ros2_control_node-11] ×2 + 10.58sINFOcontroller_managerShutdown request received.... + 10.58sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.58sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.58sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.58sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.58sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.58sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.58sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.58sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.59sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.59sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.59sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.59sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.59sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.59sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.59sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.59sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.59sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.59sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.59sINFOcontroller_managerShutting down the controller manager. + 10.59sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.59sINFOlaunchprocess[web_bridge_auth_proxy-36] was required: shutting down launched system ×2 + 10.60sINFOscan_to_scan_filter_chain-9sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-9] ×2 + 10.61sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.61sERRORmove_group-23process has died [pid 7722, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_e1f1_2hf --params-file /tmp/launch_params_a2ypkgbh --params-file /tmp/launch_params_xexz9irq --params-file /tmp/launch_params_o_16hx8v --params-file /tmp/launch_params_b35uzijc --params-file /tmp/launch_params_5v63s0tu']. ×2 + 10.62sINFOstatic_transform_publisher-7sending signal 'SIGTERM' to process[static_transform_publisher-7] ×2 + 10.63sINFOlidar_flattener.py-6sending signal 'SIGTERM' to process[lidar_flattener.py-6] ×2 + 10.64sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.65sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.65sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.66sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.66sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.66sINFOmap_serverDeactivating + 10.66sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.67sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.67sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.67sINFOcontroller_serverDeactivating + 10.67sINFOlocal_costmap.local_costmapDeactivating + 10.67sINFOvideo_server2026/09/17 04:55:07 INF shutting down gracefully ×2 + 10.67sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOvideo_server2026/09/17 04:55:07 INF [WebRTC] closing ×2 + 10.67sINFOvideo_server2026/09/17 04:55:07 INF [RTSP] closing ×2 + 10.67sINFOvideo_server2026/09/17 04:55:07 INF waiting for running hooks ×2 + 10.67sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.67sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 10.67sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.67sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.67sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 10.67sINFOlifecycle_manager_localization[34m[1mDeactivating amcl[0m[0m + 10.67sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.67sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOamclDeactivating + 10.67sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOmap_serverCleaning up + 10.67sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.67sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.67sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.67sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.67sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.67sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.67sERRORmove_groupStack trace (most recent call last) in thread 8373: ×2 + 10.67sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.67sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32e5a92a63, in __clone ×2 + 10.67sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32e5a05aa3, in ×2 + 10.67sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32e5c97db3, in ×2 + 10.68sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f32e63fbb54, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.68sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32e6029620, in rclcpp::Rate::sleep() ×2 + 10.68sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32e5f6bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.68sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f32e5f2d087, in ×2 + 10.68sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32e5c66390, in __cxa_throw ×2 + 10.68sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32e5c50a54, in std::terminate() ×2 + 10.68sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32e5c660d9, in ×2 + 10.68sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f32e5c50ff4, in ×2 + 10.68sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32e59918fe, in abort ×2 + 10.68sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32e59ae27d, in raise ×2 + 10.68sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f32e5a07b2c, in pthread_kill ×2 + 10.68sERRORmove_groupAborted (Signal sent by tkill() 7722 0) ×2 + 10.68sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.68sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.68sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.68sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.68sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.68sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.68sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.68sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.68sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.68sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.68sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.68sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.68sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.68sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.68sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.68sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.68sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.68sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.68sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.68sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.68sINFOodom_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 + 10.68sINFOodom_qos_relay.pymain() ×2 + 10.68sINFOodom_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 + 10.68sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.68sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.68sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.68sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.68sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.68sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.68sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.68sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.68sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.68sINFOcontroller_serverCleaning up + 10.68sINFOlocal_costmap.local_costmapCleaning up + 10.73sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.73sINFOsmoother_serverDeactivating + 10.73sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.74sINFOsmoother_serverCleaning up + 10.75sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.75sINFOplanner_serverDeactivating + 10.75sINFOglobal_costmap.global_costmapDeactivating + 10.79sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.80sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.82sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.82sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.82sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.82sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.82sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.82sINFOvelocity_smootherDeactivating + 10.82sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.93sINFOwaypoint_followerDeactivating + 10.93sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.99sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.99sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.03sINFOplanner_serverCleaning up + 11.04sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.04sINFObt_navigatorDeactivating + 11.04sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.05sINFOglobal_costmap.global_costmapCleaning up + 11.06sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.06sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.09sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.09sINFObehavior_serverDeactivating + 11.09sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.10sINFObehavior_serverCleaning up + 11.11sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.11sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.11sINFOwaypoint_followerCleaning up + 11.12sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.12sINFOvelocity_smootherCleaning up + 11.12sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.22sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.24sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.24sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 11.24sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.24sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.25sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.25sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.25sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.25sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.25sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.25sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.25sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.27sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.27sINFObt_navigatorCleaning up + 11.45sINFObt_navigatorCompleted Cleaning up + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.45sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.45sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.45sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.45sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.45sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.52sINFOtf2_web_republisher_node-34process has finished cleanly [pid 7815] ×2 + 11.52sINFOlaunchprocess[tf2_web_republisher_node-34] was required: shutting down launched system ×2 + 11.59sINFOmove_end_effector_resampler_node-27process has finished cleanly [pid 7781] ×2 + 11.60sINFOexecute_objective_bridge-31process has finished cleanly [pid 7791] ×2 + 11.60sINFOmove_joint_resampler_node-26process has finished cleanly [pid 7780] ×2 + 11.60sINFOui_teleop_bridge-32process has finished cleanly [pid 7795] ×2 + 11.62sINFOparameter_manager_node-24process has finished cleanly [pid 7723] ×2 + 11.64sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7705] ×2 + 11.65sINFOwaypoint_manager_node-25process has finished cleanly [pid 7777] ×2 + 11.65sINFOscan_to_scan_filter_chain-9process has finished cleanly [pid 7612] ×2 + 11.65sINFOstatic_transform_publisher-8process has finished cleanly [pid 7611] ×2 + 11.66sINFOstatic_transform_publisher-7process has finished cleanly [pid 7610] ×2 + 11.67sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 11.67sINFOlidar_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 + 11.67sINFOlidar_flattener.pymain() ×2 + 11.67sINFOlidar_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 + 11.67sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 11.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.67sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 11.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.67sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 11.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.67sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.67sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.67sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 11.67sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.67sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.67sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 11.67sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 11.68sINFOcomponent_container_mt-30process has finished cleanly [pid 7790] ×2 + 11.69sINFOstatic_transform_publisher-4process has finished cleanly [pid 7607] ×2 + 11.70sINFOstatic_transform_publisher-3process has finished cleanly [pid 7606] ×2 + 11.72sERRORlidar_flattener.py-6process has died [pid 7609, 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_p9p21hp3']. ×2 + 11.72sINFOobjective_server_node[2026-09-17 04:55:08.526] [moveit_pro_license] [info] ×2 + 11.72sINFOobjective_server_node************************************************* ×4 + 11.72sINFOobjective_server_node* MoveIt Pro License ×2 + 11.72sINFOobjective_server_node* Application has successfully terminated ×2 + 11.74sERRORodom_qos_relay.py-5process has died [pid 7608, 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 + 11.77sERRORcomponent_container_isolated-1process has died [pid 7604, 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_8io72uxc --params-file /tmp/launch_params_26a9z53o -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.78sINFOobjective_server_node_main-28process has finished cleanly [pid 7786] ×2 + 11.79sINFOlaunchprocess[objective_server_node_main-28] was required: shutting down launched system ×2 + 11.80sINFOlifecycle_manager_localization[34m[1mDeactivating map_server[0m[0m + 11.80sERRORmap_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.80sERRORlifecycle_manager_localizationFailed to change state for node: map_server + 11.80sINFOlifecycle_manager_localization[34m[1mCleaning up amcl[0m[0m + 11.80sINFOlifecycle_manager_localization[34m[1mCleaning up map_server[0m[0m + 11.80sERRORmap_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.80sINFOlifecycle_manager_localization[34m[1mManaged nodes have been reset[0m[0m + 12.72sINFOcomponent_container_mt-29process has finished cleanly [pid 7789] ×2 + 13.32sINFOros2_control_node-11process has finished cleanly [pid 7706] ×2 + 13.53sINFOweb_bridge-33process has finished cleanly [pid 7799] ×2 + 13.53sINFOlaunchprocess[web_bridge-33] was required: shutting down launched system ×2 + 14.11sERRORcomponent_container_isolated-2process has died [pid 7605, 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_8io72uxc --params-file /tmp/launch_params_hjie_7ke -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 105 warnings · 155 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790143 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790143 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712759 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712759 ms (missed cycles : 2).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.558ms + 1.59sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.62sWARNros2_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 ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224251 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224251 ms (missed cycles : 2).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.759ms + 2.97sINFOjoint_trajectory_controllerGoal reached, success! + 2.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1789620742.19712877 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.07, 11.34) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.08sWARNlocal_costmap.local_costmapSensor origin at (-2.81, 11.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527913 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527913 ms (missed cycles : 4).[0m ×2 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.05, 11.28) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.38sWARNlocal_costmap.local_costmapSensor origin at (-2.78, 11.81) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.54sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.54sINFOobjective_server_nodecaller: ×4 + 3.54sINFOobjective_server_nodetype: 0 ×4 + 3.54sINFOobjective_server_nodename: "" ×4 + 3.54sINFOobjective_server_nodeinstance_id: "" ×4 + 3.54sINFOobjective_server_node ×4 + 3.58sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1789620742.77750707 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 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788814 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788814 ms (missed cycles : 4).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454304 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454304 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805225 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805225 ms (missed cycles : 3).[0m ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×4 + 6.47sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.47sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.47sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.47sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.88sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264000 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264000 ms (missed cycles : 2).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485000 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485000 ms (missed cycles : 3).[0m ×2 + 9.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.078ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878035 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878035 ms (missed cycles : 4).[0m ×2 + 9.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.350ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.940ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557515 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557515 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.473ms + 11.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.061ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112177 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112177 ms (missed cycles : 2).[0m ×2 + 11.98sWARNros2_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 + 12.00sWARNros2_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 + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.407ms + 12.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.339ms + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094191 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094191 ms (missed cycles : 2).[0m ×2 + 13.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929105 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929105 ms (missed cycles : 4).[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.028ms + 13.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOjoint_trajectory_controllerGot request to cancel goal + 13.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1789620753.02032804 seconds ×3 + 13.88sWARNlocal_costmap.local_costmapSensor origin at (-0.45, 2.67) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.88sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 2.69) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.292ms + 14.37sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 14.37sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 14.38sWARNlocal_costmap.local_costmapSensor origin at (-0.55, 2.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.38sWARNlocal_costmap.local_costmapSensor origin at (-1.45, 2.98) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 14.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1789620753.61118722 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217566 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217566 ms (missed cycles : 2).[0m ×2 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (6.08e-07 s). ×2 + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.449ms + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197701 ms (missed cycles : 5). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197701 ms (missed cycles : 5).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023918 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023918 ms (missed cycles : 2).[0m ×2 + 17.11sWARNros2_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 + 17.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.58 s); lidar_front (0.58 s); lidar_rear (0.58 s); wrist_camera (0.58 s). The render path has stopped producing new frames for them.[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.4s	63 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.62sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789620651.42358541 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.69sWARNlocal_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. + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.79sWARNlocal_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 + 2.79sWARNlocal_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.19sINFOobjective_server_nodecaller: ×4 + 3.19sINFOobjective_server_nodetype: 0 ×4 + 3.19sINFOobjective_server_nodename: "" ×4 + 3.19sINFOobjective_server_nodeinstance_id: "" ×4 + 3.19sINFOobjective_server_node ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789620652.00892520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.144ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4).[0m ×2 + 6.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570630 ms (missed cycles : 6). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.570630 ms (missed cycles : 6).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484241 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484241 ms (missed cycles : 3).[0m ×2 + 9.06sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1789620657.84905767 seconds ×3 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006218 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006218 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588710 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588710 ms (missed cycles : 2).[0m ×2 + 10.61sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.61sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1789620659.42857146 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 11.52sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279726 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.279726 ms (missed cycles : 2).[0m ×2 + 12.07sWARNros2_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 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479252 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.479252 ms (missed cycles : 3).[0m ×2 + 12.78sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	70 warnings · 139 info
+ 0.00sWARNros2_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 + 0.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.59 s); lidar_front (0.59 s); lidar_rear (0.59 s); wrist_camera (0.59 s). The render path has stopped producing new frames for them.[0m ×2 + 0.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853901 ms (missed cycles : 5). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.853901 ms (missed cycles : 5).[0m ×2 + 1.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.852ms + 1.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.974ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524698 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524698 ms (missed cycles : 3).[0m ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982377 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982377 ms (missed cycles : 3).[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.06sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1789620818.85134315 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 13.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.19sWARNlocal_costmap.local_costmapSensor origin at (-3.48, 13.17) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.59sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1789620819.43135881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 13.40) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.69sWARNlocal_costmap.local_costmapSensor origin at (-3.47, 13.20) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.10sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350510 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350510 ms (missed cycles : 3).[0m ×2 + 4.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.747ms + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968192 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968192 ms (missed cycles : 2).[0m ×2 + 5.30sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 9.51sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 seconds ×3 + 10.06sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.06sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.10sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.47sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 10.51sWARNros2_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 + 10.54sWARNros2_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 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 12.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.0s	51 warnings · 145 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 1.78sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789620588.20100236 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789620588.78368902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2988e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2).[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 7.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 7.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.969ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829600 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829600 ms (missed cycles : 4).[0m ×2 + 7.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 8.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454025 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454025 ms (missed cycles : 3).[0m ×2 + 8.97sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789620594.24381471 seconds ×3 + 9.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567921 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567921 ms (missed cycles : 3).[0m ×2 + 9.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 9.52sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 9.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789620594.82345414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.93sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.823ms + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429411 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429411 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101166 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101166 ms (missed cycles : 2).[0m ×2 + 12.04sWARNros2_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 + 12.09sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 12.60sWARNros2_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 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167888 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167888 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	29 warnings · 121 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 ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164611 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164611 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.996ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.217ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.365ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789620898.70529604 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789620899.32113719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.107ms + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789620899.90136957 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789620900.47460985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789620900.99474859 seconds ×3 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNros2_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 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145125 ms (missed cycles : 2). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145125 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	25 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186847 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186847 ms (missed cycles : 4).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	27 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 1.78sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789620588.20100236 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789620588.78368902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2988e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2).[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	27 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988053 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722707 ms (missed cycles : 3).[0m ×2 + 1.22sWARNros2_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 + 1.78sWARNros2_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 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282744 ms (missed cycles : 4).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1789620588.20100236 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023043 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1789620588.78368902 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563013 ms (missed cycles : 3).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.2988e-05 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.593479 ms (missed cycles : 5).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2).[0m ×2 + 6.57sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms
− skipped	Close Gripper	close_gripper.xml	0.0s	22 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_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. + 0.37sINFOlifecycle_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. + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[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 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.79sINFOmove_groupClearing octomap...[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.21sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sWARNros2_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 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	29 warnings · 75 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027185 ms (missed cycles : 2).[0m ×2 + 0.28sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 0.85sWARNros2_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 + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.969ms + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829600 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829600 ms (missed cycles : 4).[0m ×2 + 1.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 1.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.069ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454025 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454025 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1789620594.24381471 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.242ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567921 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567921 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1789620594.82345414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.823ms + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429411 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429411 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101166 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101166 ms (missed cycles : 2).[0m ×2 + 5.74sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167888 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167888 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789620651.42358541 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.69sWARNlocal_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. + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.79sWARNlocal_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 + 2.79sWARNlocal_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789620652.00892520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.144ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789620651.42358541 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.69sWARNlocal_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. + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.79sWARNlocal_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 + 2.79sWARNlocal_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789620652.00892520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.144ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789620651.42358541 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.69sWARNlocal_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. + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.79sWARNlocal_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 + 2.79sWARNlocal_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789620652.00892520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.144ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789620651.42358541 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.69sWARNlocal_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. + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.79sWARNlocal_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 + 2.79sWARNlocal_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789620652.00892520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.144ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	39 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.445823 ms (missed cycles : 3).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795829 ms (missed cycles : 3).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.61 s); lidar_front (0.61 s); lidar_rear (0.61 s); wrist_camera (0.61 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.838008 ms (missed cycles : 3).[0m ×2 + 2.62sINFOjoint_trajectory_controllerGoal reached, success! + 2.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1789620651.42358541 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.69sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 13.00) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.69sWARNlocal_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. + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.477ms + 2.79sWARNlocal_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 + 2.79sWARNlocal_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 + 3.19sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313820 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1789620652.00892520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.144ms + 3.61sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal + 4.01sINFOjoint_trajectory_controllerAccepted new action goal + 4.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.873341 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017511 ms (missed cycles : 3).[0m ×2 + 6.02sWARNros2_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 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203753 ms (missed cycles : 4).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	51 warnings · 76 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5).[0m ×2 + 0.19sWARNros2_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 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789620690.44872022 seconds ×3 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789620691.02617526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.763ms + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.23, 8.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.13, 8.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (5.29e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.609ms + 4.94sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	51 warnings · 76 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5).[0m ×2 + 0.19sWARNros2_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 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789620690.44872022 seconds ×3 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789620691.02617526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.763ms + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.23, 8.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.13, 8.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (5.29e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.609ms + 4.94sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	51 warnings · 76 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.970169 ms (missed cycles : 5).[0m ×2 + 0.19sWARNros2_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 + 0.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 0.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.535ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360327 ms (missed cycles : 3).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 2.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.542ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734792 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094221 ms (missed cycles : 2).[0m ×2 + 3.19sINFOjoint_trajectory_controllerGoal reached, success! + 3.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1789620690.44872022 seconds ×3 + 3.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.228ms + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-3.65, 12.86) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.25sWARNlocal_costmap.local_costmapSensor origin at (-4.55, 12.89) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.80sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1789620691.02617526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.763ms + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.23, 8.33) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.13, 8.36) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697655 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (5.29e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.609ms + 4.94sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048863 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.55 s); lidar_front (0.55 s); lidar_rear (0.55 s); wrist_camera (0.55 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752877 ms (missed cycles : 2).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal + 6.52sINFOjoint_trajectory_controllerAccepted new action goal + 6.52sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	22 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_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. + 0.37sINFOlifecycle_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. + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[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 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.79sINFOmove_groupClearing octomap...[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.21sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sWARNros2_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 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	22 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_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. + 0.37sINFOlifecycle_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. + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[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 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.79sINFOmove_groupClearing octomap...[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.21sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sWARNros2_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 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	25 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575340 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.419636 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037476 ms (missed cycles : 2).[0m ×2 + 3.07sINFOjoint_trajectory_controllerGoal reached, success! + 3.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902482 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1789620825.30149412 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 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.71sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1789620825.88987279 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291969 ms (missed cycles : 2).[0m ×2 + 4.12sWARNros2_control_nodeCamera render tick took 0.56 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.15sWARNros2_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 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498597 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446506 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________________________X] ×2 + 6.44sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	26 warnings · 121 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 ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164611 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164611 ms (missed cycles : 2).[0m ×2 + 0.52sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.996ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.217ms + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555079 ms (missed cycles : 3).[0m ×2 + 2.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.365ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993675 ms (missed cycles : 2).[0m ×2 + 3.01sINFOjoint_trajectory_controllerGoal reached, success! + 3.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1789620898.70529604 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122329 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1789620899.32113719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.68sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. + 3.68sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×2 + 3.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.107ms + 4.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1789620899.90136957 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764059 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1789620900.47460985 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1789620900.99474859 seconds ×3 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.56 s); lidar_front (0.56 s); lidar_rear (0.56 s); wrist_camera (0.56 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423832 ms (missed cycles : 4).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sWARNros2_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
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2

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

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	25 warnings · 336 info
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.58sINFOmove_groupClearing octomap...[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.00sWARNros2_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 + 4.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sWARNros2_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 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	27 warnings · 341 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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242674 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242674 ms (missed cycles : 3).[0m ×2 + 0.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.66sINFObehavior_serverActivating + 0.66sINFObehavior_serverActivating spin + 0.66sINFObehavior_serverActivating backup + 0.66sINFObehavior_serverActivating drive_on_heading + 0.66sINFObehavior_serverActivating assisted_teleop + 0.66sINFObehavior_serverActivating wait + 0.66sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.76sINFObt_navigatorActivating + 0.82sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.92sINFOwaypoint_followerActivating + 0.92sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.03sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.03sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.03sINFOvelocity_smootherActivating + 1.03sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[0m ×2 + 1.13sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.13sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.13sINFOlifecycle_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 3.093175 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.29sINFOobjective_server_nodecaller: ×10 + 3.29sINFOobjective_server_nodetype: 0 ×10 + 3.29sINFOobjective_server_nodename: "" ×10 + 3.30sINFOobjective_server_nodeinstance_id: "" ×10 + 3.30sINFOobjective_server_node ×10 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.35sINFOmove_groupClearing octomap...[0m ×4 + 3.35sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.35sINFOmove_groupOctomap cleared.[0m ×4 + 3.35sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.76sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.97sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
✓ passed	—	reset_planning_scene.xml	0.6s	25 warnings · 347 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_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. + 0.37sINFOlifecycle_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. + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[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 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.79sINFOmove_groupClearing octomap...[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.21sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sWARNros2_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 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.70sINFOjoint_trajectory_controllerReceived new action goal + 6.70sINFOjoint_trajectory_controllerAccepted new action goal + 6.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	27 warnings · 338 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 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242674 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242674 ms (missed cycles : 3).[0m ×2 + 0.55sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.55sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.66sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.66sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.66sINFObehavior_serverActivating + 0.66sINFObehavior_serverActivating spin + 0.66sINFObehavior_serverActivating backup + 0.66sINFObehavior_serverActivating drive_on_heading + 0.66sINFObehavior_serverActivating assisted_teleop + 0.66sINFObehavior_serverActivating wait + 0.66sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.76sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.76sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.76sINFObt_navigatorActivating + 0.82sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.92sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.92sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.92sINFOwaypoint_followerActivating + 0.92sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.03sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.03sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.03sINFOvelocity_smootherActivating + 1.03sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[0m ×2 + 1.13sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.13sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.13sINFOlifecycle_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 3.093175 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 2.26sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.75sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.78sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.29sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.29sINFOobjective_server_nodecaller: ×10 + 3.29sINFOobjective_server_nodetype: 0 ×10 + 3.29sINFOobjective_server_nodename: "" ×10 + 3.30sINFOobjective_server_nodeinstance_id: "" ×10 + 3.30sINFOobjective_server_node ×10 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 3.35sINFOmove_groupClearing octomap...[0m ×4 + 3.35sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 3.35sINFOmove_groupOctomap cleared.[0m ×4 + 3.35sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 3.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.76sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.23sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.23sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sWARNros2_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 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.86sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.86sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.90sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	22 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_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. + 0.37sINFOlifecycle_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. + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[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 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.79sINFOmove_groupClearing octomap...[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.21sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sWARNros2_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 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	createvector.xml	0.0s	22 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_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. + 0.37sINFOlifecycle_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. + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[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 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.79sINFOmove_groupClearing octomap...[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.21sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sWARNros2_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 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	find_nearest_pose_in_path.xml	0.0s	22 warnings · 341 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.10sINFOlifecycle_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. + 0.37sINFOlifecycle_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. + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[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 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.22sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.22sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.74sINFOobjective_server_nodecaller: ×10 + 2.74sINFOobjective_server_nodetype: 0 ×10 + 2.74sINFOobjective_server_nodename: "" ×10 + 2.74sINFOobjective_server_nodeinstance_id: "" ×10 + 2.74sINFOobjective_server_node ×10 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.79sINFOmove_groupClearing octomap...[0m ×4 + 2.79sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.79sINFOmove_groupOctomap cleared.[0m ×4 + 2.79sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.34sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.34sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.93sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.93sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.21sWARNros2_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 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_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 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.76sWARNros2_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 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.31sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.41sINFOobjective_server_nodePlanning for 177 path waypoints. ×3
− skipped	—	teleoperate.xml	0.0s	25 warnings · 336 info
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.06sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.27sINFOvelocity_smootherActivating + 0.27sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135737 ms (missed cycles : 2).[0m ×2 + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.99sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.53sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.53sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.53sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.53sINFOobjective_server_nodecaller: ×10 + 2.53sINFOobjective_server_nodetype: 0 ×10 + 2.53sINFOobjective_server_nodename: "" ×10 + 2.53sINFOobjective_server_nodeinstance_id: "" ×10 + 2.53sINFOobjective_server_node ×10 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 2.58sINFOmove_groupClearing octomap...[0m ×4 + 2.58sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 2.58sINFOmove_groupOctomap cleared.[0m ×4 + 2.58sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.72sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 4.00sWARNros2_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 + 4.47sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_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 + 4.52sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.52sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.55sWARNros2_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 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 5.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.10sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 6.20sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.49sINFOjoint_trajectory_controllerReceived new action goal + 6.49sINFOjoint_trajectory_controllerAccepted new action goal + 6.49sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.49sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2

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

14 skip

− skipped	—	execute_mtc_solution.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186847 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186847 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	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_eye_to_hand_camera.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	calibrate_multiple_cameras.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_calibration_sample.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	capture_camera_point_cloud.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	collect_calibration_samples.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	generate_calibration_waypoints.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	22 warnings · 321 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093175 ms (missed cycles : 2).[0m ×2 + 0.15sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.65sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.65sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655873 ms (missed cycles : 2).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.19sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.19sINFOobjective_server_nodecaller: ×10 + 1.19sINFOobjective_server_nodetype: 0 ×10 + 1.19sINFOobjective_server_nodename: "" ×10 + 1.19sINFOobjective_server_nodeinstance_id: "" ×10 + 1.19sINFOobjective_server_node ×10 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1789620542.62142444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... ×2 + 1.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. ×2 + 1.24sINFOmove_groupClearing octomap...[0m ×4 + 1.24sINFOsurface_coverage_accumulatorSurface coverage cleared with the scene snapshot. ×2 + 1.24sINFOmove_groupOctomap cleared.[0m ×4 + 1.24sINFOcomponent_container_mtSurface coverage cleared with the scene snapshot.[0m ×4 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1789620542.64162064 seconds ×3 + 1.78sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.78sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1789620543.23108625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1789620543.24119711 seconds ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373894 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1789620543.81229639 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1789620543.96288896 seconds ×3 + 2.66sWARNros2_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 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1789620544.56092310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_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 + 3.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.20sWARNros2_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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715661 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1789620544.62103796 seconds ×3 + 3.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.76sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1789620545.19370961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023761 ms (missed cycles : 4).[0m ×2 + 4.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.15sINFOjoint_trajectory_controllerReceived new action goal + 5.15sINFOjoint_trajectory_controllerAccepted new action goal + 5.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694276 ms (missed cycles : 2).[0m ×2