MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.4s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	18.9s	12 errors · 310 warnings · 1527 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-09-04-10-46-24-848022-189eeed858bb-7539 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 4.08sINFOstatic_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' + 4.08sINFOstatic_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' + 4.09sINFOstatic_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' + 4.11sINFOstatic_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' + 4.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 4.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 4.18sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.22sINFOcontroller_serverCreating controller server + 4.24sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.25sINFOlocal_costmap.local_costmapCreating Costmap + 4.32sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 4.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 4.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 4.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 4.34sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.34sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 4.35sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 4.36sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.36sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 4.37sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 4.38sINFOcontroller_managerupdate rate is 600 Hz + 4.38sINFOcontroller_managerOverruns handling is : enabled + 4.38sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 4.39sWARNcontroller_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. + 4.39sINFOsmoother_serverCreating smoother server + 4.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 4.40sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 4.40sINFOros2_control_node-12process started with pid [7683] ×2 + 4.40sINFOmove_group-24process started with pid [7703] ×2 + 4.40sINFOparameter_manager_node-25process started with pid [7745] ×2 + 4.40sINFOwaypoint_manager_node-26process started with pid [7746] ×2 + 4.40sINFOmove_joint_resampler_node-27process started with pid [7747] ×2 + 4.40sINFOmove_end_effector_resampler_node-28process started with pid [7749] ×2 + 4.40sINFOobjective_server_node_main-29process started with pid [7750] ×2 + 4.40sINFOcomponent_container_mt-30process started with pid [7751] ×2 + 4.40sINFOcomponent_container_mt-31process started with pid [7752] ×2 + 4.40sINFOexecute_objective_bridge-32process started with pid [7753] ×2 + 4.40sINFOui_teleop_bridge-33process started with pid [7754] ×2 + 4.40sINFOweb_bridge-34process started with pid [7755] ×2 + 4.40sINFOtf2_web_republisher_node-35process started with pid [7756] ×2 + 4.40sINFOvideo_server-36process started with pid [7758] ×2 + 4.40sINFOweb_bridge_auth_proxy-37process started with pid [7778] ×2 + 4.40sINFOweb_video_auth_proxy-38process started with pid [7788] ×2 + 4.41sINFOcomponent_container_isolated-1process started with pid [7589] ×2 + 4.41sINFOcomponent_container_isolated-2process started with pid [7590] ×2 + 4.41sINFOstatic_transform_publisher-3process started with pid [7591] ×2 + 4.41sINFOstatic_transform_publisher-4process started with pid [7592] ×2 + 4.41sINFOodom_qos_relay.py-5process started with pid [7593] ×2 + 4.41sINFOforward_stereo_publisher.py-6process started with pid [7594] ×2 + 4.41sINFOlidar_flattener.py-7process started with pid [7595] ×2 + 4.41sINFOstatic_transform_publisher-8process started with pid [7596] ×2 + 4.41sINFOstatic_transform_publisher-9process started with pid [7597] ×2 + 4.41sINFOscan_to_scan_filter_chain-10process started with pid [7681] ×2 + 4.41sINFOscan_to_scan_filter_chain-11process started with pid [7682] ×2 + 4.41sINFOros2-13process started with pid [7684] ×2 + 4.41sINFOros2-14process started with pid [7685] ×2 + 4.41sINFOros2-15process started with pid [7686] ×2 + 4.41sINFOros2-16process started with pid [7687] ×2 + 4.41sINFOros2-17process started with pid [7688] ×2 + 4.41sINFOros2-18process started with pid [7689] ×2 + 4.41sINFOros2-19process started with pid [7690] ×2 + 4.41sINFOros2-20process started with pid [7691] ×2 + 4.41sINFOros2-21process started with pid [7692] ×2 + 4.41sINFOros2-22process started with pid [7693] ×2 + 4.41sINFOros2-23process started with pid [7694] ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.070065 ms (missed cycles : 7). + 4.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 4.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 4.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 4.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 4.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 4.48sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.48sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 4.48sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×8 + 4.48sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×8 + 4.48sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 4.48sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 4.48sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 4.48sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 4.48sINFOstatic_transform_publishertranslation: ('0.450000', '0.000000', '0.150000') ×2 + 4.48sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '-0.923880', '0.382683') ×2 + 4.48sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_front_ROS'[0m ×2 + 4.48sINFOstatic_transform_publishertranslation: ('-0.450000', '0.000000', '0.150000') ×2 + 4.48sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.382683', '0.923880') ×2 + 4.49sINFOstatic_transform_publisherfrom 'ridgeback_base_link' to 'lidar_rear_ROS'[0m ×2 + 4.49sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 4.49sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 4.49sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 4.49sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 4.49sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 4.49sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.070065 ms (missed cycles : 7).[0m ×2 + 4.53sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.54sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.54sINFOmap_serverCreating + 4.56sINFOplanner_serverCreating + 4.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 4.57sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 4.57sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 4.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 4.58sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.58sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 4.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 4.62sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.63sINFOglobal_costmap.global_costmapCreating Costmap + 4.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 4.63sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.64sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.64sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 4.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 4.67sINFOlifecycle_manager_localizationCreating + 4.68sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 4.69sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 4.69sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 4.69sINFOmap_serverConfiguring + 4.69sINFOvideo_server2026/09/04 10:46:31 INF MediaMTX v1.20.1, linux, amd64 ×2 + 4.71sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.72sINFOvideo_server2026/09/04 10:46:31 INF configuration loaded from /tmp/moveit-webrtc-1a537gsf/mediamtx.yml ×2 + 4.72sINFOvideo_server2026/09/04 10:46:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 4.72sINFOvideo_server2026/09/04 10:46:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 4.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 4.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 4.78sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 4.78sINFOamclConfiguring + 4.78sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 4.79sINFOmap_serverActivating + 4.79sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 4.82sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 4.82sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 4.84sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.84sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 4.84sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 4.86sINFObt_navigatorCreating + 4.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 4.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 4.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 4.88sINFOrobot_state_publisherRobot initialized + 4.88sINFOcomponent_container_mtRobot initialized[0m ×2 + 4.89sINFOcontroller_managerReceived robot description from topic. + 4.89sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 4.90sINFOlifecycle_manager_localizationServer map_server connected with bond. + 4.90sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 4.90sINFOamclActivating + 4.90sINFOamclSubscribed to initial_pose_topic: /initialpose + 4.90sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 4.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 4.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 4.91sINFOamclSubscribed to map_topic: /map + 4.91sINFOamclSubscribed to scan_topic: /scan_merged + 4.91sINFOamclCreated reinitialize_global_localization service + 4.91sINFOamclCreated request_nomotion_update service + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 4.91sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 4.91sINFOamclA new map was received + 4.91sINFOamclInitializing particle filter instance + 4.92sINFOwaypoint_followerCreating + 4.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 4.94sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 4.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 4.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 4.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 4.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 4.98sINFOvelocity_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. + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 4.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 4.99sINFOlidar_flattenerlidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS + 4.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 4.99sINFOlidar_flattener.pylidar_front: /lidar_front/points -> /scan_front in lidar_front_ROS[0m ×2 + 5.00sINFOlidar_flattenerlidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS + 5.00sINFOlidar_flattener.pylidar_rear: /lidar_rear/points -> /scan_rear in lidar_rear_ROS[0m ×2 + 5.01sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 5.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 5.01sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 5.06sINFOlifecycle_manager_navigationCreating + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 5.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 5.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 5.10sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 5.13sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 5.13sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 5.13sINFOcontroller_serverConfiguring controller interface + 5.13sINFOcontroller_servergetting progress checker plugins.. + 5.13sINFOcontroller_servergetting goal checker plugins.. + 5.13sINFOcontroller_serverController frequency set to 20.0000Hz + 5.13sINFOlocal_costmap.local_costmapConfiguring + 5.15sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 5.17sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 5.21sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 5.21sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 5.21sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 5.25sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 5.25sWARNlaser_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. + 5.25sWARNlaser_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. + 5.25sINFOcontroller_serverController Server has progress_checker progress checkers available. + 5.25sWARNscan_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 + 5.25sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 5.25sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 5.27sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 5.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 5.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 5.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 5.30sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.321 seconds + 5.31sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 5.31sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 5.31sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 5.31sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 5.31sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 5.31sINFOmove_groupLoaded robot model in 0.321 seconds[0m ×2 + 5.31sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 5.31sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 5.31sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 5.31sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 5.32sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 5.32sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 5.33sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 5.33sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 5.33sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 5.34sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 5.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 5.34sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 5.34sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 5.35sINFOcontroller_serverOptimizer reset ×2 + 5.37sINFOcontroller_serverController Server has FollowPath controllers available. + 5.38sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 5.38sINFOsmoother_serverConfiguring smoother server + 5.41sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 5.42sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.727016 ms (missed cycles : 7). + 5.44sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 5.44sINFOplanner_serverConfiguring + 5.44sINFOglobal_costmap.global_costmapConfiguring + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.727016 ms (missed cycles : 7).[0m ×2 + 5.47sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 5.48sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 5.48sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 5.48sINFOamclParticle filter initialization completed + 5.48sINFOamclInitializing particles from estimated pose and covariance + 5.48sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 5.49sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 5.49sINFOamclThe bond connection to the lifecycle manager is now fully formed + 5.49sINFOlifecycle_manager_localizationServer amcl connected with bond. + 5.49sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 5.49sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 5.49sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 5.54sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 5.54sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 5.54sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 5.56sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 5.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 5.57sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 5.57sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 5.57sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 5.57sINFOplanner_serverPlanner Server has GridBased planners available. + 5.59sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 5.59sINFObehavior_serverConfiguring + 5.59sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 5.60sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 5.60sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 5.60sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 5.61sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 5.61sINFObehavior_serverConfiguring spin + 5.63sINFObehavior_serverConfiguring backup + 5.64sINFObehavior_serverConfiguring drive_on_heading + 5.64sINFObehavior_serverConfiguring assisted_teleop + 5.67sINFObehavior_serverConfiguring wait + 5.68sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 5.68sINFObt_navigatorConfiguring + 5.68sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 5.70sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 5.90sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 5.90sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 5.90sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.91sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 5.92sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 5.92sWARNmove_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 + 5.94sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 6.01sINFOwaypoint_manager_nodeLoaded robot model in 0.352482 seconds[0m ×2 + 6.03sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 6.03sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 6.04sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 6.04sINFOwaypoint_followerConfiguring + 6.08sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 6.08sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 6.08sINFOvelocity_smootherConfiguring velocity smoother + 6.09sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 6.09sINFOcontroller_serverActivating + 6.09sINFOlocal_costmap.local_costmapActivating + 6.09sINFOlocal_costmap.local_costmapChecking transform + 6.09sINFOlocal_costmap.local_costmapTimed out waiting for transform from ridgeback_base_link to odom to become available, tf error: Could not find a connection between 'odom' and 'ridgeback_base_link' because they are not part of the same tree.Tf has two or more unconnected trees. ×12 + 6.20sINFOmove_group[2026-09-04 10:46:32.589] [moveit_pro_license] [info] ×2 + 6.20sINFOmove_group************************************************* ×4 + 6.20sINFOmove_group* MoveIt Pro License ×2 + 6.20sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.32sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 6.32sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 6.32sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 6.33sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 6.36sINFOros2_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 + 6.36sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 6.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.37sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.37sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 6.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 6.40sWARNwaypoint_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 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098912 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098912 ms (missed cycles : 2).[0m ×2 + 6.63sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 6.63sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 6.63sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 6.63sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 6.63sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 6.63sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 6.63sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 6.63sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 6.63sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 6.63sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 6.63sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 6.63sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 6.64sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 6.64sINFOmove_groupStarting planning scene monitor[0m ×2 + 6.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 6.64sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 6.64sINFOmove_groupListening to '/planning_scene'[0m ×2 + 6.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 6.64sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 6.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 6.65sINFOmove_groupListening to 'collision_object'[0m ×2 + 6.65sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 6.70sINFOwaypoint_manager_node[2026-09-04 10:46:33.085] [moveit_pro_license] [info] ×2 + 6.70sINFOwaypoint_manager_node************************************************* ×4 + 6.70sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 6.70sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.06sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 7.06sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 7.07sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 7.21sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 7.21sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 7.21sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 7.21sWARNros2_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 + 7.21sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 7.21sINFOros2_control_nodecollision_Cube: 26.6668 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodecollision_Cube_002_001: 25.7749 m, 3.1416 rad ×2 + 7.21sINFOros2_control_nodecollision_Cube_004: 22.8933 m, 0.5642 rad ×2 + 7.21sINFOros2_control_nodecollision_Plane: 0.5000 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodecollision_SM_Box_A7_73: 34.3014 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodecollision_SM_Box_A8: 32.3363 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodecollision_SM_Box_C7_77: 32.4096 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodecollision_SM_Floor_376: 25.8135 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodecollision_supports: 23.1591 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodebase: 0.0000 m, 3.1416 rad ×2 + 7.21sINFOros2_control_nodeshoulder_link: 0.0005 m, 3.1416 rad ×2 + 7.21sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 7.21sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 7.21sINFOros2_control_nodewrist_1_link: 0.1263 m, 1.5708 rad ×2 + 7.21sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 7.21sINFOros2_control_nodevacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.21sINFOros2_control_nodecollision_vacuum_base: 0.0010 m, 0.0000 rad ×2 + 7.21sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 7.21sINFOros2_control_nodecollision_vacuum_suction_cups: 0.0010 m, 0.0000 rad[0m ×2 + 7.21sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 7.21sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 7.21sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 7.21sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 7.21sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 7.21sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 7.21sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 7.21sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 7.21sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 7.21sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 7.32sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.32sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 7.32sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.32sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 7.42sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 7.42sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 7.49sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 7.49sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 7.50sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 7.50sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.50sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.50sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 7.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 7.51sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 7.51sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 7.51sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 7.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 7.52sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 7.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782882 ms (missed cycles : 2). + 7.54sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782882 ms (missed cycles : 2).[0m ×2 + 7.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 7.65sINFOobjective_server_node[2026-09-04 10:46:34.046] [moveit_pro_license] [info] ×2 + 7.65sINFOobjective_server_node************************************************* ×4 + 7.65sINFOobjective_server_node* MoveIt Pro License ×2 + 7.65sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 7.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 7.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.70sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 7.70sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.71sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.71sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 7.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 7.73sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 7.74sINFOobjective_server_nodeLoaded robot model in 0.0367741 seconds[0m ×2 + 7.74sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 7.74sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.74sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front' + 7.74sINFOcomponent_container_mtDiscovered point cloud source '/lidar_front/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_front'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear' + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/lidar_rear/points' -> '/moveit_pro_ui/streaming_point_cloud/lidar_rear'[0m ×2 + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 7.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 7.75sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 7.75sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 7.76sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 7.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 7.76sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 7.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 7.88sINFOros2_control_node[2026-09-04 10:46:34.273] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 7.88sINFOros2_control_node[2026-09-04 10:46:34.275] [info] Controller state will be published at 10 Hz. ×2 + 7.88sINFOros2_control_node[2026-09-04 10:46:34.277] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.00sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.00sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 8.00sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.00sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 8.02sINFOstreaming_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) + 8.02sINFOcomponent_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 + 8.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 8.06sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.06sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.06sWARNobjective_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. + 8.06sWARNobjective_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 + 8.06sWARNobjective_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. + 8.06sWARNobjective_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 + 8.06sWARNobjective_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. + 8.06sWARNobjective_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. + 8.06sWARNobjective_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 + 8.06sWARNobjective_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 + 8.06sWARNobjective_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. + 8.06sWARNobjective_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. + 8.06sWARNobjective_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 + 8.06sWARNobjective_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 + 8.06sWARNobjective_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. + 8.06sWARNobjective_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. + 8.06sWARNobjective_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 + 8.06sWARNobjective_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 + 8.06sWARNobjective_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. + 8.06sWARNobjective_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. + 8.07sWARNobjective_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 + 8.07sWARNobjective_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 + 8.14sINFOobjective_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 + 8.14sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 8.16sINFOcomponent_container_mtLoaded robot model in 0.426178 seconds[0m ×2 + 8.16sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 8.16sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.16sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 8.16sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 8.16sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 8.16sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 8.16sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 8.16sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 8.16sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 8.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 8.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 8.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 8.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 8.21sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 8.21sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 8.23sINFOros2-21process has finished cleanly [pid 7692] ×2 + 8.27sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 8.27sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.27sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 8.28sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 8.28sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 8.29sINFOplatform_velocity_controller_nav2configure successful + 8.29sINFOros2_control_nodeconfigure successful[0m ×6 + 8.47sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 8.47sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 8.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.51sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.51sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.52sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.53sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 8.56sINFOmove_groupMoveGroup debug mode is ON + 8.56sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 8.56sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 8.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.59sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.59sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 8.61sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 8.62sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 8.62sINFOros2-18process has finished cleanly [pid 7689] ×2 + 8.62sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 8.66sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 8.66sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 8.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 8.70sINFOcomponent_container_mt[2026-09-04 10:46:35.090] [moveit_pro_license] [info] ×2 + 8.70sINFOcomponent_container_mt************************************************* ×4 + 8.70sINFOcomponent_container_mt* MoveIt Pro License ×2 + 8.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 8.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.71sINFOmove_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 ****************************************************** + 8.71sINFOmove_group ×8 + 8.71sINFOmove_group****************************************************** ×4 + 8.71sINFOmove_group* MoveGroup using: ×2 + 8.71sINFOmove_group* - apply_planning_scene_service ×2 + 8.71sINFOmove_group* - clear_octomap_service ×2 + 8.71sINFOmove_group* - get_group_urdf ×2 + 8.71sINFOmove_group* - load_geometry_from_file ×2 + 8.71sINFOmove_group* - get_planning_scene_service ×2 + 8.71sINFOmove_group* - kinematics_service ×2 + 8.71sINFOmove_group* - save_geometry_to_file ×2 + 8.71sINFOmove_group* - GetPlanningGroups ×2 + 8.71sINFOmove_group* - URDFPlanningSceneCapability ×2 + 8.71sINFOmove_group[0m ×2 + 8.71sINFOmove_group[92mYou can start planning now![0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398748 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398748 ms (missed cycles : 3).[0m ×2 + 9.03sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 9.03sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 9.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 9.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 9.08sINFOros2_control_node[2026-09-04 10:46:35.468] [info] Controller state will be published at 20 Hz. ×2 + 9.08sINFOros2_control_node[2026-09-04 10:46:35.470] [info] JointVelocityController 'on_configure' succeeded. ×2 + 9.20sWARNros2_control_nodeCamera render tick took 0.87 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 9.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 9.23sINFOlidar_flattenerlidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.23sINFOlidar_flattener.pylidar_front: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.23sINFOlidar_flattenerlidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg + 9.23sINFOlidar_flattener.pylidar_rear: publishing 811 of 811 beams, +0.000 to +270.000 deg, increment 0.3333 deg[0m ×2 + 9.37sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.37sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.37sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.37sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.37sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 9.37sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 9.42sINFOros2-22process has finished cleanly [pid 7693] ×2 + 9.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 9.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.43sINFOforce_torque_sensor_broadcasterconfigure successful + 9.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.44sINFOcontroller_managerSuccessfully switched controllers! ×20 + 9.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 9.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 9.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 9.72sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 9.72sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 9.72sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 9.72sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 9.72sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 9.72sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 9.73sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 9.75sINFOros2-13process has finished cleanly [pid 7684] ×2 + 9.77sWARNros2_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 + 9.77sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 9.77sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 9.77sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 9.77sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 9.78sINFOplatform_velocity_controllerconfigure successful + 9.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 9.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 9.78sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 9.78sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747431 ms (missed cycles : 2). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747431 ms (missed cycles : 2).[0m ×2 + 10.12sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 10.12sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 10.12sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 10.12sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 10.12sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 10.12sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 10.15sINFOros2-16process has finished cleanly [pid 7687] ×2 + 10.18sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 10.18sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 10.18sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 10.19sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 10.19sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 10.19sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 10.19sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 10.19sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 10.24sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788518794.722 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.28sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 10.49sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 10.49sINFOcontroller_managerLoading controller 'vacuum_gripper' + 10.49sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 10.49sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 10.50sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 10.50sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 10.51sINFOros2-14process has finished cleanly [pid 7685] ×2 + 10.52sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 10.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 10.56sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 10.56sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 10.56sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 10.56sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 10.56sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 10.56sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 10.56sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 10.56sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 10.57sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 10.57sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 10.86sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.86sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.86sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 10.86sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 10.90sINFOros2-17process has finished cleanly [pid 7688] ×2 + 10.91sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 10.91sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 10.91sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 10.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192310 ms (missed cycles : 4). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192310 ms (missed cycles : 4).[0m ×2 + 11.25sINFOros2_control_node[2026-09-04 10:46:37.647] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.26sINFOros2_control_node[2026-09-04 10:46:37.648] [info] Controller state will be published at 10 Hz. ×2 + 11.26sINFOros2_control_node[2026-09-04 10:46:37.649] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.55sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.55sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.55sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.55sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 11.56sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 11.60sINFOros2-20process has finished cleanly [pid 7691] ×2 + 11.65sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 11.65sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 11.65sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.65sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.65sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.65sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.65sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.66sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.66sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.66sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.66sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.67sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.96sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.96sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.97sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 11.97sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 11.98sINFOros2-19process has finished cleanly [pid 7690] ×2 + 12.01sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 12.01sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 12.01sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.01sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.01sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.02sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.02sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.02sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.03sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 12.03sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 12.09sINFOlocal_costmap.local_costmapstart + 12.20sWARNcontroller_serverParameter controller_server.verbose not found + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976113 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976113 ms (missed cycles : 2).[0m ×2 + 12.20sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.31sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.31sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.31sINFOsmoother_serverActivating + 12.31sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.32sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.32sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 12.32sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.32sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd + 12.32sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.32sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_bj4a2lko --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_qbgg_a7u --params-file /tmp/launch_params_lsv102jd [0m ×2 + 12.36sINFOros2-15process has finished cleanly [pid 7686] ×2 + 12.37sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 12.37sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 12.37sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 12.37sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 12.41sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.41sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.41sINFOplanner_serverActivating + 12.41sINFOglobal_costmap.global_costmapActivating + 12.41sINFOglobal_costmap.global_costmapChecking transform + 12.41sINFOglobal_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. + 12.63sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1788518798.201 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.73sINFOros2_control_node[2026-09-04 10:46:39.122] [info] Controller state will be published at 20 Hz. ×2 + 12.73sINFOros2_control_node[2026-09-04 10:46:39.123] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.82sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1788518797.667 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 12.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 12.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 12.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 12.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 12.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 12.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 12.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 12.83sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 12.83sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 12.84sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×7 + 12.84sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×14 + 12.86sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 4.863ms + 12.91sINFOglobal_costmap.global_costmapTimed out waiting for transform from ridgeback_base_link to map to become available, tf error: Lookup would require extrapolation at time 1788518799.285614, but only time 1788518799.732192 is in the buffer, when looking up transform from frame [ridgeback_base_link] to frame [map] + 13.04sINFOros2-23process has finished cleanly [pid 7694] ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869870 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869870 ms (missed cycles : 2).[0m ×2 + 13.41sINFOglobal_costmap.global_costmapstart + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350667 ms (missed cycles : 3). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350667 ms (missed cycles : 3).[0m ×2 + 14.47sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.47sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.57sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.57sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.57sINFObehavior_serverActivating + 14.57sINFObehavior_serverActivating spin + 14.57sINFObehavior_serverActivating backup + 14.57sINFObehavior_serverActivating drive_on_heading + 14.57sINFObehavior_serverActivating assisted_teleop + 14.57sINFObehavior_serverActivating wait + 14.57sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.67sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.67sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.68sINFObt_navigatorActivating + 14.73sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.83sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.83sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.83sINFOwaypoint_followerActivating + 14.83sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.94sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.94sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.94sINFOvelocity_smootherActivating + 14.94sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 15.04sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 15.04sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 15.04sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 17.25sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 17.92sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 17.92sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 17.92sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 17.92sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 17.92sINFOobjective_server_nodeparameter_overrides: [] ×10 + 17.92sINFOobjective_server_nodecaller: ×10 + 17.92sINFOobjective_server_nodetype: 0 ×10 + 17.92sINFOobjective_server_nodename: "" ×10 + 17.92sINFOobjective_server_nodeinstance_id: "" ×10 + 17.92sINFOobjective_server_node ×10 + 17.95sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.95sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.95sINFOmove_groupClearing octomap...[0m ×2 + 17.95sINFOmove_groupOctomap cleared.[0m ×2 + 17.96sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 18.50sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 18.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 18.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 19.08sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 19.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 19.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.82sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 19.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.87sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 19.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.88sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 19.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 20.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.44sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 20.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.48sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[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	65.1s	3 errors · 276 warnings · 257 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407974 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407974 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_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 ×6 + 0.99sWARNros2_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 ×12 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.764ms + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.077ms + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946193 ms (missed cycles : 3). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946193 ms (missed cycles : 3).[0m ×2 + 1.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.785ms + 2.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOjoint_trajectory_controllerGot request to cancel goal + 3.16sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.16sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.16sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.18sERRORobjective_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: 1788519013.07706618 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.29sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439949 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439949 ms (missed cycles : 2).[0m ×2 + 3.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.552ms + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.49sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788519013.64800310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.126ms + 4.13sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569668 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569668 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087904 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087904 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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706108 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706108 ms (missed cycles : 2).[0m ×2 + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×8 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455787 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455787 ms (missed cycles : 3).[0m ×2 + 8.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.371ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300123 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300123 ms (missed cycles : 2).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.412ms + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660531 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660531 ms (missed cycles : 3).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.392ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340095 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340095 ms (missed cycles : 2).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.224ms + 11.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.975ms + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766097 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766097 ms (missed cycles : 2).[0m ×2 + 11.77sWARNros2_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 + 11.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×4 + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.716ms + 12.33sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 6.195ms + 12.84sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 3.802ms + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722850 ms (missed cycles : 2). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722850 ms (missed cycles : 2).[0m ×2 + 13.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301287 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301287 ms (missed cycles : 2).[0m ×2 + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 14.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.577ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016417 ms (missed cycles : 4). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016417 ms (missed cycles : 4).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 15.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.771ms + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398238 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.398238 ms (missed cycles : 4).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.335ms + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647414 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647414 ms (missed cycles : 3).[0m ×2 + 17.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 17.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 17.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.730ms + 18.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231700 ms (missed cycles : 3). + 18.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231700 ms (missed cycles : 3).[0m ×2 + 18.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996259 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996259 ms (missed cycles : 3).[0m ×2 + 19.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 19.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 20.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291697 ms (missed cycles : 2). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291697 ms (missed cycles : 2).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.882ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867169 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867169 ms (missed cycles : 2).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 22.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541183 ms (missed cycles : 3). + 22.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541183 ms (missed cycles : 3).[0m ×2 + 23.02sWARNros2_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 + 23.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 23.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.611ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142362 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142362 ms (missed cycles : 2).[0m ×2 + 24.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.711ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.439ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614924 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614924 ms (missed cycles : 3).[0m ×2 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.568ms + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788296 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788296 ms (missed cycles : 2).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.034ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310530 ms (missed cycles : 2).[0m ×2 + 27.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 27.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.942ms + 28.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880003 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880003 ms (missed cycles : 2).[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 28.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.239ms + 29.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648291 ms (missed cycles : 3). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648291 ms (missed cycles : 3).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.547ms + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.160ms + 30.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061372 ms (missed cycles : 2). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061372 ms (missed cycles : 2).[0m ×2 + 30.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.169ms + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.627ms + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289639 ms (missed cycles : 4). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289639 ms (missed cycles : 4).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 31.92sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 32.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474850 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474850 ms (missed cycles : 3).[0m ×2 + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.871ms + 33.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711315 ms (missed cycles : 2). + 33.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711315 ms (missed cycles : 2).[0m ×2 + 33.76sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 33.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.275ms + 34.56sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.56sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745369 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745369 ms (missed cycles : 2).[0m ×2 + 35.18sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759306 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759306 ms (missed cycles : 2).[0m ×2 + 36.36sINFOobjective_server_nodePlanning for 17 path waypoints. ×3 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716796 ms (missed cycles : 2). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716796 ms (missed cycles : 2).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657818 ms (missed cycles : 2). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657818 ms (missed cycles : 2).[0m ×2 + 38.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552526 ms (missed cycles : 3). + 38.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552526 ms (missed cycles : 3).[0m ×2 + 39.48sWARNros2_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 + 39.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694518 ms (missed cycles : 2). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694518 ms (missed cycles : 2).[0m ×2 + 40.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 40.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.844ms + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780690 ms (missed cycles : 2). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780690 ms (missed cycles : 2).[0m ×2 + 41.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 42.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767433 ms (missed cycles : 3). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767433 ms (missed cycles : 3).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704350 ms (missed cycles : 2). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704350 ms (missed cycles : 2).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873763 ms (missed cycles : 4). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873763 ms (missed cycles : 4).[0m ×2 + 45.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088574 ms (missed cycles : 3). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088574 ms (missed cycles : 3).[0m ×2 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739360 ms (missed cycles : 2). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739360 ms (missed cycles : 2).[0m ×2 + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897876 ms (missed cycles : 3). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897876 ms (missed cycles : 3).[0m ×2 + 48.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212024 ms (missed cycles : 2). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212024 ms (missed cycles : 2).[0m ×2 + 49.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740612 ms (missed cycles : 2). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740612 ms (missed cycles : 2).[0m ×2 + 50.23sINFOobjective_server_nodePlanning for 14 path waypoints. ×3 + 51.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528181 ms (missed cycles : 2). + 51.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528181 ms (missed cycles : 2).[0m ×2 + 52.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477282 ms (missed cycles : 4). + 52.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.477282 ms (missed cycles : 4).[0m ×2 + 53.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676878 ms (missed cycles : 2). + 53.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676878 ms (missed cycles : 2).[0m ×2 + 54.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455012 ms (missed cycles : 2). + 54.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.455012 ms (missed cycles : 2).[0m ×2 + 54.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.929ms + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913683 ms (missed cycles : 2). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913683 ms (missed cycles : 2).[0m ×2 + 55.52sWARNros2_control_nodeCamera render tick took 0.55 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 56.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 56.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933848 ms (missed cycles : 3). + 56.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933848 ms (missed cycles : 3).[0m ×2 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720811 ms (missed cycles : 3). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720811 ms (missed cycles : 3).[0m ×2 + 57.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195104 ms (missed cycles : 2). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195104 ms (missed cycles : 2).[0m ×2 + 59.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 59.25sINFOobjective_server_nodePlanning for 15 path waypoints. ×3 + 59.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464730 ms (missed cycles : 3). + 59.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464730 ms (missed cycles : 3).[0m ×2 + 60.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921037 ms (missed cycles : 3). + 60.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921037 ms (missed cycles : 3).[0m ×2 + 61.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672954 ms (missed cycles : 4). + 61.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672954 ms (missed cycles : 4).[0m ×2 + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374769 ms (missed cycles : 2). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374769 ms (missed cycles : 2).[0m ×2 + 63.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.334ms + 64.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484197 ms (missed cycles : 3). + 64.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484197 ms (missed cycles : 3).[0m ×2 + 65.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148529 ms (missed cycles : 2). + 65.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148529 ms (missed cycles : 2).[0m ×2 + 65.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 66.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721970 ms (missed cycles : 2). + 66.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721970 ms (missed cycles : 2).[0m ×2 + 66.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 67.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706810 ms (missed cycles : 2). + 67.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706810 ms (missed cycles : 2).[0m ×2 + 67.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 68.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341502 ms (missed cycles : 4). + 68.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341502 ms (missed cycles : 4).[0m ×2 + 68.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788519078.12815714 seconds ×3 + 68.39sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.39sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 68.59sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.59sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 68.76sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 68.76sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 68.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788519078.69702125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 69.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.236ms + 69.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896895 ms (missed cycles : 2). + 69.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896895 ms (missed cycles : 2).[0m ×2 + 70.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182683 ms (missed cycles : 4). + 70.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182683 ms (missed cycles : 4).[0m ×2 + 71.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154712 ms (missed cycles : 4). + 71.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154712 ms (missed cycles : 4).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.0s	227 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.23sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.23sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495484 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495484 ms (missed cycles : 4).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.275ms + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835332 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835332 ms (missed cycles : 2).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.336ms + 8.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.978ms + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065434 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065434 ms (missed cycles : 2).[0m ×2 + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.453ms + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230717 ms (missed cycles : 4). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230717 ms (missed cycles : 4).[0m ×2 + 10.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.559ms + 10.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.613ms + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748757 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748757 ms (missed cycles : 3).[0m ×2 + 11.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.660ms + 11.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.812ms + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250417 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250417 ms (missed cycles : 2).[0m ×2 + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.044ms + 12.82sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 8.583ms + 13.32sINFOamclParticle filter update iteration stats: 2491 particles 723 points - 4.798ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960244 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960244 ms (missed cycles : 3).[0m ×2 + 13.82sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 3.629ms + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.325ms + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359913 ms (missed cycles : 2). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359913 ms (missed cycles : 2).[0m ×2 + 14.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 15.31sWARNros2_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 ×10 + 15.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988168 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988168 ms (missed cycles : 2).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 16.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384374 ms (missed cycles : 2). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384374 ms (missed cycles : 2).[0m ×2 + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.902ms + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499526 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499526 ms (missed cycles : 3).[0m ×2 + 17.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 18.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790721 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790721 ms (missed cycles : 2).[0m ×2 + 18.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 19.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.507ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773474 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773474 ms (missed cycles : 2).[0m ×2 + 19.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 20.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126853 ms (missed cycles : 2). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126853 ms (missed cycles : 2).[0m ×2 + 20.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 21.49sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679866 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679866 ms (missed cycles : 2).[0m ×2 + 22.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 23.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377098 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377098 ms (missed cycles : 2).[0m ×2 + 23.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 24.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.544ms + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830716 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830716 ms (missed cycles : 2).[0m ×2 + 24.52sWARNros2_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 ×8 + 24.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 25.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.708ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029052 ms (missed cycles : 3). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029052 ms (missed cycles : 3).[0m ×2 + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.376ms + 26.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.726ms + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449923 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449923 ms (missed cycles : 3).[0m ×2 + 26.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006938 ms (missed cycles : 3). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006938 ms (missed cycles : 3).[0m ×2 + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 28.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.685ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551955 ms (missed cycles : 3). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551955 ms (missed cycles : 3).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.298ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661706 ms (missed cycles : 2). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661706 ms (missed cycles : 2).[0m ×2 + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 30.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 30.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733289 ms (missed cycles : 3). + 30.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733289 ms (missed cycles : 3).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 31.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041017 ms (missed cycles : 2). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041017 ms (missed cycles : 2).[0m ×2 + 31.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546614 ms (missed cycles : 3). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546614 ms (missed cycles : 3).[0m ×2 + 32.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.773ms + 33.63sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465275 ms (missed cycles : 3). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465275 ms (missed cycles : 3).[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897158 ms (missed cycles : 3). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897158 ms (missed cycles : 3).[0m ×2 + 35.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.54 s); lidar_front (0.54 s); lidar_rear (0.54 s); wrist_camera (0.54 s). The render path has stopped producing new frames for them.[0m ×4 + 36.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.279ms + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837243 ms (missed cycles : 4). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837243 ms (missed cycles : 4).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042749 ms (missed cycles : 4). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042749 ms (missed cycles : 4).[0m ×2 + 38.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 38.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248320 ms (missed cycles : 4). + 38.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248320 ms (missed cycles : 4).[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025927 ms (missed cycles : 4). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025927 ms (missed cycles : 4).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991999 ms (missed cycles : 2). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991999 ms (missed cycles : 2).[0m ×2 + 40.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 41.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858289 ms (missed cycles : 2). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858289 ms (missed cycles : 2).[0m ×2 + 42.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551968 ms (missed cycles : 3). + 42.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551968 ms (missed cycles : 3).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451038 ms (missed cycles : 4). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451038 ms (missed cycles : 4).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965075 ms (missed cycles : 2). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965075 ms (missed cycles : 2).[0m ×2 + 45.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487371 ms (missed cycles : 4). + 45.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487371 ms (missed cycles : 4).[0m ×2 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902035 ms (missed cycles : 2). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902035 ms (missed cycles : 2).[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775692 ms (missed cycles : 4). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.775692 ms (missed cycles : 4).[0m ×2 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646203 ms (missed cycles : 3). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646203 ms (missed cycles : 3).[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733311 ms (missed cycles : 2). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733311 ms (missed cycles : 2).[0m ×2 + 51.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967162 ms (missed cycles : 2). + 51.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967162 ms (missed cycles : 2).[0m ×2 + 51.17sWARNros2_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 + 51.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.688ms + 52.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830609 ms (missed cycles : 2). + 52.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830609 ms (missed cycles : 2).[0m ×2 + 53.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313302 ms (missed cycles : 4). + 53.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313302 ms (missed cycles : 4).[0m ×2 + 54.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.270ms + 54.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701019 ms (missed cycles : 3). + 54.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701019 ms (missed cycles : 3).[0m ×2 + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573852 ms (missed cycles : 4). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573852 ms (missed cycles : 4).[0m ×2 + 56.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543767 ms (missed cycles : 3). + 56.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543767 ms (missed cycles : 3).[0m ×2 + 57.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707103 ms (missed cycles : 3). + 57.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707103 ms (missed cycles : 3).[0m ×2 + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611330 ms (missed cycles : 2). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611330 ms (missed cycles : 2).[0m ×2 + 59.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788519141.53079915 seconds ×3 + 59.52sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 59.52sWARNlocal_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. + 59.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 59.62sWARNlocal_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 + 59.62sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 59.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963334 ms (missed cycles : 3). + 59.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963334 ms (missed cycles : 3).[0m ×2 + 59.91sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 59.91sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 59.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788519142.12564826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.631ms + 60.31sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 60.57sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761790 ms (missed cycles : 2). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761790 ms (missed cycles : 2).[0m ×2 + 62.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920265 ms (missed cycles : 2). + 62.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920265 ms (missed cycles : 2).[0m ×2 + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782996 ms (missed cycles : 2). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782996 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.9s	231 warnings · 216 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414203 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414203 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658728 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658728 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_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 ×12 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788518855.86171937 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788518856.43780565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.447ms + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750099 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750099 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888207 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888207 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994086 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994086 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859581 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859581 ms (missed cycles : 2).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 1904 particles 723 points - 3.223ms + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304681 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304681 ms (missed cycles : 2).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 3.355ms + 9.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.425ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448394 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448394 ms (missed cycles : 2).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.646ms + 10.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.891ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140315 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140315 ms (missed cycles : 3).[0m ×2 + 11.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 11.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717781 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717781 ms (missed cycles : 2).[0m ×2 + 12.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 12.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680587 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680587 ms (missed cycles : 2).[0m ×2 + 13.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965688 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965688 ms (missed cycles : 2).[0m ×2 + 14.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 14.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700440 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700440 ms (missed cycles : 2).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.687ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838127 ms (missed cycles : 2). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838127 ms (missed cycles : 2).[0m ×2 + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 17.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138119 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138119 ms (missed cycles : 2).[0m ×2 + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.358ms + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227830 ms (missed cycles : 2). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227830 ms (missed cycles : 2).[0m ×2 + 18.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms ×2 + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837166 ms (missed cycles : 2). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837166 ms (missed cycles : 2).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501598 ms (missed cycles : 2). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501598 ms (missed cycles : 2).[0m ×2 + 20.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 21.04sWARNros2_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 ×6 + 21.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204473 ms (missed cycles : 2). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204473 ms (missed cycles : 2).[0m ×2 + 21.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms ×2 + 22.08sWARNros2_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 ×8 + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252954 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252954 ms (missed cycles : 2).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 23.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502982 ms (missed cycles : 4). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502982 ms (missed cycles : 4).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.801ms + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559244 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559244 ms (missed cycles : 2).[0m ×2 + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 25.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437069 ms (missed cycles : 3). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437069 ms (missed cycles : 3).[0m ×2 + 25.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.579ms + 26.16sWARNros2_control_nodeCamera render tick took 0.52 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.166ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106947 ms (missed cycles : 2). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106947 ms (missed cycles : 2).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.663ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962785 ms (missed cycles : 3). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962785 ms (missed cycles : 3).[0m ×2 + 28.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.722ms + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493117 ms (missed cycles : 3). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493117 ms (missed cycles : 3).[0m ×2 + 29.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.435ms + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306267 ms (missed cycles : 2). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306267 ms (missed cycles : 2).[0m ×2 + 30.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.855ms + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548114 ms (missed cycles : 2). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548114 ms (missed cycles : 2).[0m ×2 + 31.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.555ms + 31.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590662 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590662 ms (missed cycles : 2).[0m ×2 + 32.25sWARNros2_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 ×6 + 32.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.972ms + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468216 ms (missed cycles : 3). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468216 ms (missed cycles : 3).[0m ×2 + 33.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms + 34.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989981 ms (missed cycles : 2). + 34.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989981 ms (missed cycles : 2).[0m ×2 + 35.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066574 ms (missed cycles : 2). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066574 ms (missed cycles : 2).[0m ×2 + 36.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971431 ms (missed cycles : 2). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971431 ms (missed cycles : 2).[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546313 ms (missed cycles : 3). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546313 ms (missed cycles : 3).[0m ×2 + 38.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680771 ms (missed cycles : 2). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680771 ms (missed cycles : 2).[0m ×2 + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288237 ms (missed cycles : 3). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288237 ms (missed cycles : 3).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191954 ms (missed cycles : 4). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191954 ms (missed cycles : 4).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724712 ms (missed cycles : 2). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724712 ms (missed cycles : 2).[0m ×2 + 42.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169698 ms (missed cycles : 2). + 42.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169698 ms (missed cycles : 2).[0m ×2 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268603 ms (missed cycles : 2). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268603 ms (missed cycles : 2).[0m ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935263 ms (missed cycles : 2). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935263 ms (missed cycles : 2).[0m ×2 + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840605 ms (missed cycles : 2). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840605 ms (missed cycles : 2).[0m ×2 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978174 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978174 ms (missed cycles : 3).[0m ×2 + 47.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683384 ms (missed cycles : 2). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683384 ms (missed cycles : 2).[0m ×2 + 49.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549953 ms (missed cycles : 4). + 49.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549953 ms (missed cycles : 4).[0m ×2 + 50.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287212 ms (missed cycles : 2). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287212 ms (missed cycles : 2).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338557 ms (missed cycles : 3). + 51.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338557 ms (missed cycles : 3).[0m ×2 + 51.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.516ms + 52.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730956 ms (missed cycles : 2). + 52.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730956 ms (missed cycles : 2).[0m ×2 + 53.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706375 ms (missed cycles : 2). + 53.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706375 ms (missed cycles : 2).[0m ×2 + 54.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475270 ms (missed cycles : 3). + 54.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475270 ms (missed cycles : 3).[0m ×2 + 55.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 55.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898893 ms (missed cycles : 4). + 55.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.898893 ms (missed cycles : 4).[0m ×2 + 57.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4). + 57.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4).[0m ×2 + 58.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3). + 58.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3).[0m ×2 + 59.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 59.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2). + 59.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2).[0m ×2 + 59.66sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788518912.77793860 seconds ×3 + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 59.77sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-2.50, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.17sWARNlocal_costmap.local_costmapSensor origin at (-3.40, 11.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 60.17sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.208ms + 60.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 60.20sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 60.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788518913.35792947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2).[0m ×2 + 60.61sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 60.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 60.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 61.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3). + 61.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3).[0m ×2 + 62.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2). + 62.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	50.9s	226 warnings · 224 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×8 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3).[0m ×2 + 2.08sWARNros2_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 ×8 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788518951.41992068 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788518951.99902391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.313ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 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 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750651 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750651 ms (missed cycles : 2).[0m ×2 + 7.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.835ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132784 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132784 ms (missed cycles : 4).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.415ms + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684367 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684367 ms (missed cycles : 2).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.939ms + 10.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.963ms + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800053 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800053 ms (missed cycles : 3).[0m ×2 + 11.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.721ms + 11.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.827ms + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511941 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511941 ms (missed cycles : 2).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.762ms + 12.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.210ms + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463290 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463290 ms (missed cycles : 2).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.070ms + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.008ms + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435584 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435584 ms (missed cycles : 2).[0m ×2 + 14.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 14.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 14.82sINFOamclParticle filter update iteration stats: 3793 particles 723 points - 8.744ms + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396795 ms (missed cycles : 4). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396795 ms (missed cycles : 4).[0m ×2 + 15.32sINFOamclParticle filter update iteration stats: 2606 particles 723 points - 5.450ms + 15.82sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 3.442ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277049 ms (missed cycles : 4). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.277049 ms (missed cycles : 4).[0m ×2 + 16.32sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 2.603ms + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.030ms + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216556 ms (missed cycles : 3). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216556 ms (missed cycles : 3).[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 17.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015020 ms (missed cycles : 2). + 18.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015020 ms (missed cycles : 2).[0m ×2 + 18.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.977ms + 18.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.922ms + 19.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467982 ms (missed cycles : 3). + 19.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467982 ms (missed cycles : 3).[0m ×2 + 19.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 19.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788849 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788849 ms (missed cycles : 2).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 20.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435069 ms (missed cycles : 4). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435069 ms (missed cycles : 4).[0m ×2 + 21.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 21.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771733 ms (missed cycles : 2). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771733 ms (missed cycles : 2).[0m ×2 + 22.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.581ms ×2 + 22.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.300ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292612 ms (missed cycles : 2). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292612 ms (missed cycles : 2).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.996ms + 24.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.53 s); lidar_front (0.53 s); lidar_rear (0.53 s); wrist_camera (0.53 s). The render path has stopped producing new frames for them.[0m ×6 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718505 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.718505 ms (missed cycles : 2).[0m ×2 + 25.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.080ms + 25.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145645 ms (missed cycles : 3). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145645 ms (missed cycles : 3).[0m ×2 + 26.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 26.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006673 ms (missed cycles : 3). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006673 ms (missed cycles : 3).[0m ×2 + 27.08sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×8 + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.130ms + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981549 ms (missed cycles : 4). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981549 ms (missed cycles : 4).[0m ×2 + 28.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 28.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720177 ms (missed cycles : 4). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720177 ms (missed cycles : 4).[0m ×2 + 29.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 29.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567413 ms (missed cycles : 2). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567413 ms (missed cycles : 2).[0m ×2 + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.437ms + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532498 ms (missed cycles : 4). + 31.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532498 ms (missed cycles : 4).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.709ms ×2 + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.236ms + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391837 ms (missed cycles : 4). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391837 ms (missed cycles : 4).[0m ×2 + 32.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.625ms + 33.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749084 ms (missed cycles : 3). + 33.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.749084 ms (missed cycles : 3).[0m ×2 + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.545ms + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176227 ms (missed cycles : 4). + 34.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176227 ms (missed cycles : 4).[0m ×2 + 35.22sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418495 ms (missed cycles : 3). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418495 ms (missed cycles : 3).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852132 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852132 ms (missed cycles : 2).[0m ×2 + 36.74sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985175 ms (missed cycles : 4). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985175 ms (missed cycles : 4).[0m ×2 + 37.48sINFOobjective_server_nodePlanning for 24 path waypoints. ×3 + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055803 ms (missed cycles : 2). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055803 ms (missed cycles : 2).[0m ×2 + 39.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.073ms + 39.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092592 ms (missed cycles : 3). + 39.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092592 ms (missed cycles : 3).[0m ×2 + 40.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 40.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376138 ms (missed cycles : 3). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376138 ms (missed cycles : 3).[0m ×2 + 41.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 41.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.552ms + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447245 ms (missed cycles : 2). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447245 ms (missed cycles : 2).[0m ×2 + 42.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.500ms + 43.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000997 ms (missed cycles : 2). + 43.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000997 ms (missed cycles : 2).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356328 ms (missed cycles : 2). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356328 ms (missed cycles : 2).[0m ×2 + 45.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810380 ms (missed cycles : 4). + 45.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810380 ms (missed cycles : 4).[0m ×2 + 45.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222858 ms (missed cycles : 3). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222858 ms (missed cycles : 3).[0m ×2 + 46.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 47.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.818ms + 47.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112547 ms (missed cycles : 3). + 47.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112547 ms (missed cycles : 3).[0m ×2 + 47.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.699ms + 48.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.797ms + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093045 ms (missed cycles : 4). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.093045 ms (missed cycles : 4).[0m ×2 + 49.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537947 ms (missed cycles : 3). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537947 ms (missed cycles : 3).[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209034 ms (missed cycles : 4). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.209034 ms (missed cycles : 4).[0m ×2 + 50.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.742ms + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796823 ms (missed cycles : 4). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796823 ms (missed cycles : 4).[0m ×2 + 52.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 52.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764643 ms (missed cycles : 4). + 52.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764643 ms (missed cycles : 4).[0m ×2 + 53.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 53.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956300 ms (missed cycles : 2). + 53.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956300 ms (missed cycles : 2).[0m ×2 + 53.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788519002.32915330 seconds ×3 + 53.94sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 53.95sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 54.24sWARNlocal_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. ×5 + 54.25sWARNlocal_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. ×5 + 54.43sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 54.43sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 54.46sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788519002.90599751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386510 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386510 ms (missed cycles : 2).[0m ×2 + 54.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.198ms + 54.87sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 55.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378912 ms (missed cycles : 3). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378912 ms (missed cycles : 3).[0m ×2 + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222276 ms (missed cycles : 2). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222276 ms (missed cycles : 2).[0m ×2
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	141 warnings · 382 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.67sINFOobjective_server_nodecaller: ×12 + 0.67sINFOobjective_server_nodetype: 0 ×12 + 0.67sINFOobjective_server_nodename: "" ×12 + 0.67sINFOobjective_server_nodeinstance_id: "" ×12 + 0.67sINFOobjective_server_node ×12 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.70sINFOmove_groupClearing octomap...[0m ×2 + 0.70sINFOmove_groupOctomap cleared.[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.56sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.56sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.56sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456798 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456798 ms (missed cycles : 2).[0m ×2 + 7.48sINFOamclParticle filter update iteration stats: 1460 particles 723 points - 2.830ms + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669415 ms (missed cycles : 2). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669415 ms (missed cycles : 2).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622544 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622544 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008767 ms (missed cycles : 3). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008767 ms (missed cycles : 3).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972334 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972334 ms (missed cycles : 2).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742261 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742261 ms (missed cycles : 2).[0m ×2 + 13.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135098 ms (missed cycles : 2). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135098 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234999 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.234999 ms (missed cycles : 2).[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983030 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983030 ms (missed cycles : 3).[0m ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636820 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636820 ms (missed cycles : 2).[0m ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784844 ms (missed cycles : 2). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784844 ms (missed cycles : 2).[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075561 ms (missed cycles : 2). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075561 ms (missed cycles : 2).[0m ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347570 ms (missed cycles : 3). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347570 ms (missed cycles : 3).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058765 ms (missed cycles : 2). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058765 ms (missed cycles : 2).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251211 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251211 ms (missed cycles : 2).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008284 ms (missed cycles : 2). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008284 ms (missed cycles : 2).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831484 ms (missed cycles : 3). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.831484 ms (missed cycles : 3).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345677 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345677 ms (missed cycles : 2).[0m ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708496 ms (missed cycles : 3). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708496 ms (missed cycles : 3).[0m ×2 + 26.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434790 ms (missed cycles : 2). + 26.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434790 ms (missed cycles : 2).[0m ×2 + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435015 ms (missed cycles : 3). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435015 ms (missed cycles : 3).[0m ×2 + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869022 ms (missed cycles : 2). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869022 ms (missed cycles : 2).[0m ×2 + 30.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127273 ms (missed cycles : 3). + 30.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127273 ms (missed cycles : 3).[0m ×2 + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483717 ms (missed cycles : 2). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483717 ms (missed cycles : 2).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649850 ms (missed cycles : 3). + 32.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649850 ms (missed cycles : 3).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050764 ms (missed cycles : 3). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050764 ms (missed cycles : 3).[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858735 ms (missed cycles : 2). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858735 ms (missed cycles : 2).[0m ×2 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711759 ms (missed cycles : 2). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711759 ms (missed cycles : 2).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670162 ms (missed cycles : 2). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670162 ms (missed cycles : 2).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320901 ms (missed cycles : 3). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320901 ms (missed cycles : 3).[0m ×2 + 37.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.365ms + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565813 ms (missed cycles : 2). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565813 ms (missed cycles : 2).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066756 ms (missed cycles : 2). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066756 ms (missed cycles : 2).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371091 ms (missed cycles : 3). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371091 ms (missed cycles : 3).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173883 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173883 ms (missed cycles : 2).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803471 ms (missed cycles : 3). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803471 ms (missed cycles : 3).[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2).[0m ×2 + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2).[0m ×2 + 46.15sINFOjoint_trajectory_controllerGoal reached, success! + 46.15sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788518849.81576347 seconds ×3 + 46.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 46.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 46.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 46.72sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 46.72sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 46.75sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788518850.39160109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2).[0m ×2 + 47.77sINFOobjective_server_nodeFound path in 0 iterations (2.1118e-05 s). ×2 + 47.83sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 47.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2). + 48.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2).[0m ×2 + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 49.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.3s	137 warnings · 188 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783040 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783040 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782291 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782291 ms (missed cycles : 3).[0m ×2 + 1.41sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.41sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.45sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788518919.10806775 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553321 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553321 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.99sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.99sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 2.99sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.99sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.99sINFOobjective_server_nodecaller: ×4 + 2.99sINFOobjective_server_nodetype: 0 ×4 + 2.99sINFOobjective_server_nodename: "" ×4 + 2.99sINFOobjective_server_nodeinstance_id: "" ×4 + 2.99sINFOobjective_server_node ×4 + 3.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788518920.67977977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.41sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787157 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787157 ms (missed cycles : 2).[0m ×2 + 3.77sWARNros2_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 ×8 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295729 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295729 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342226 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342226 ms (missed cycles : 2).[0m ×2 + 6.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134635 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134635 ms (missed cycles : 4).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.076ms + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002870 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002870 ms (missed cycles : 2).[0m ×2 + 8.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.729ms + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440964 ms (missed cycles : 2). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440964 ms (missed cycles : 2).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.311ms + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.869ms + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538582 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538582 ms (missed cycles : 2).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.274ms + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043758 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043758 ms (missed cycles : 2).[0m ×2 + 11.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.078ms + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.362ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486516 ms (missed cycles : 3). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486516 ms (missed cycles : 3).[0m ×2 + 12.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.058ms + 12.93sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.697ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337909 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337909 ms (missed cycles : 3).[0m ×2 + 13.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.454ms + 13.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.929ms + 14.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.376ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145447 ms (missed cycles : 3). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145447 ms (missed cycles : 3).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 3721 particles 723 points - 7.782ms + 15.45sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 5.301ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754139 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754139 ms (missed cycles : 2).[0m ×2 + 15.95sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 3.179ms + 16.45sWARNros2_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 + 16.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806308 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806308 ms (missed cycles : 2).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 17.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495279 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495279 ms (missed cycles : 2).[0m ×2 + 17.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.368ms + 18.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258667 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258667 ms (missed cycles : 2).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 19.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905938 ms (missed cycles : 2). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905938 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.557ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902051 ms (missed cycles : 4). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902051 ms (missed cycles : 4).[0m ×2 + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.935ms + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016196 ms (missed cycles : 2). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016196 ms (missed cycles : 2).[0m ×2 + 22.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 22.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450543 ms (missed cycles : 2). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450543 ms (missed cycles : 2).[0m ×2 + 23.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.329ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550497 ms (missed cycles : 3). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550497 ms (missed cycles : 3).[0m ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423476 ms (missed cycles : 3). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423476 ms (missed cycles : 3).[0m ×2 + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552113 ms (missed cycles : 3).[0m ×2 + 26.70sWARNros2_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 + 26.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.754ms + 27.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565502 ms (missed cycles : 2). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565502 ms (missed cycles : 2).[0m ×2 + 27.72sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.597ms + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640533 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640533 ms (missed cycles : 3).[0m ×2 + 28.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.480ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302638 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302638 ms (missed cycles : 2).[0m ×2 + 29.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5).[0m ×2 + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms ×2 + 31.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3).[0m ×2 + 32.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2). + 32.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2).[0m ×2 + 33.76sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788518951.41992068 seconds ×3 + 33.84sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 33.84sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 34.03sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.03sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2).[0m ×2 + 34.31sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 34.31sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 34.34sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788518951.99902391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.313ms + 34.71sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3).[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	15.7s	87 warnings · 239 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543767 ms (missed cycles : 3).[0m ×2 + 0.36sWARNros2_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 + 0.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707103 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707103 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611330 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611330 ms (missed cycles : 2).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.78sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1788519141.53079915 seconds ×3 + 2.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.79sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×3 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×6 + 2.94sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 2.94sWARNlocal_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. + 3.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 3.04sWARNlocal_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 + 3.04sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963334 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963334 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Move Forward 2m" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.33sINFOobjective_server_nodeobjective_name: "Solution - Move Forward 2m" ×2 + 3.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.33sINFOobjective_server_nodecaller: ×6 + 3.33sINFOobjective_server_nodetype: 0 ×6 + 3.33sINFOobjective_server_nodename: "" ×6 + 3.33sINFOobjective_server_nodeinstance_id: "" ×6 + 3.33sINFOobjective_server_node ×6 + 3.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1788519142.12564826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.631ms + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 4.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761790 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761790 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920265 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920265 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782996 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782996 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060073 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060073 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056580 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056580 ms (missed cycles : 4).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134525 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134525 ms (missed cycles : 2).[0m ×2 + 9.64sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.72sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 9.83sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 10.01sINFOobjective_server_nodePath shortcutter: [X______________________________X] ×2 + 10.05sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 10.28sWARNros2_control_nodeCamera render tick took 0.51 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.36sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 10.67sINFOobjective_server_nodeFound path in 33 iterations (0.0326165 s). ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455247 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455247 ms (missed cycles : 3).[0m ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X_______X] ×2 + 11.17sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 11.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366065 ms (missed cycles : 3). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.366065 ms (missed cycles : 3).[0m ×2 + 12.29sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.52sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691841 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691841 ms (missed cycles : 3).[0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334649 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334649 ms (missed cycles : 2).[0m ×2 + 14.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.348ms + 15.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×4 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975668 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.975668 ms (missed cycles : 2).[0m ×2 + 15.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.100ms + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667544 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667544 ms (missed cycles : 2).[0m ×2 + 16.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.314ms + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2).[0m ×2 + 17.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.053ms + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 18.51sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788519157.25854564 seconds ×3 + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.717ms + 19.05sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 19.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 19.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788519157.87182546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 19.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 19.13sINFOmove_groupClearing octomap...[0m ×2 + 19.13sINFOmove_groupOctomap cleared.[0m ×2 + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.377ms + 19.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788519158.62194395 seconds ×3 + 20.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 20.42sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 20.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788519159.19264913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3).[0m ×2 + 21.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788519160.05277252 seconds ×3 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2).[0m ×2 + 21.54sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.4s	93 errors · 32 warnings · 496 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2).[0m ×2 + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.053ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 1.20sINFOjoint_trajectory_controllerGoal reached, success! + 1.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788519157.25854564 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 1.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.717ms + 1.77sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.77sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 1.77sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.77sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 1.77sINFOobjective_server_nodeparameter_overrides: [] ×4 + 1.77sINFOobjective_server_nodecaller: ×4 + 1.77sINFOobjective_server_nodetype: 0 ×4 + 1.77sINFOobjective_server_nodename: "" ×4 + 1.77sINFOobjective_server_nodeinstance_id: "" ×4 + 1.77sINFOobjective_server_node ×4 + 1.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788519157.87182546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.84sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.84sINFOmove_groupClearing octomap...[0m ×2 + 1.84sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2).[0m ×2 + 2.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.377ms + 2.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788519158.62194395 seconds ×3 + 3.13sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.13sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788519159.19264913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788519160.05277252 seconds ×3 + 4.11sWARNros2_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2).[0m ×2 + 4.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936792 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936792 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669757 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669757 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982586 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982586 ms (missed cycles : 3).[0m ×2 + 7.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429668 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429668 ms (missed cycles : 2).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006836 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006836 ms (missed cycles : 4).[0m ×2 + 9.94sERRORweb_video_auth_proxy-38process[web_video_auth_proxy-38] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORweb_bridge_auth_proxy-37process[web_bridge_auth_proxy-37] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORvideo_server-36process[video_server-36] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORtf2_web_republisher_node-35process[tf2_web_republisher_node-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.94sERRORweb_bridge-34process[web_bridge-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORui_teleop_bridge-33process[ui_teleop_bridge-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORexecute_objective_bridge-32process[execute_objective_bridge-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORcomponent_container_mt-31process[component_container_mt-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORcomponent_container_mt-30process[component_container_mt-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORobjective_server_node_main-29process[objective_server_node_main-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sINFOweb_video_auth_proxy-38sending signal 'SIGTERM' to process[web_video_auth_proxy-38] ×2 + 9.96sERRORmove_end_effector_resampler_node-28process[move_end_effector_resampler_node-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORweb_video_auth_proxy-38process has died [pid 7788, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 9.96sERRORmove_joint_resampler_node-27process[move_joint_resampler_node-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sINFOweb_bridge_auth_proxy-37sending signal 'SIGTERM' to process[web_bridge_auth_proxy-37] ×2 + 9.97sERRORwaypoint_manager_node-26process[waypoint_manager_node-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORweb_bridge_auth_proxy-37process has died [pid 7778, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 9.97sERRORparameter_manager_node-25process[parameter_manager_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORmove_group-24process[move_group-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORros2_control_node-12process[ros2_control_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORscan_to_scan_filter_chain-11process[scan_to_scan_filter_chain-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORscan_to_scan_filter_chain-10process[scan_to_scan_filter_chain-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORstatic_transform_publisher-9process[static_transform_publisher-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORstatic_transform_publisher-8process[static_transform_publisher-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORlidar_flattener.py-7process[lidar_flattener.py-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sINFOvideo_server-36sending signal 'SIGTERM' to process[video_server-36] ×2 + 9.99sINFOtf2_web_republisher_node-35sending signal 'SIGTERM' to process[tf2_web_republisher_node-35] ×2 + 10.00sINFOweb_bridge-34sending signal 'SIGTERM' to process[web_bridge-34] ×2 + 10.01sINFOui_teleop_bridge-33sending signal 'SIGTERM' to process[ui_teleop_bridge-33] ×2 + 10.02sINFOvideo_server-36process has finished cleanly [pid 7758] ×2 + 10.02sINFOexecute_objective_bridge-32sending signal 'SIGTERM' to process[execute_objective_bridge-32] ×2 + 10.03sINFOcomponent_container_mt-31sending signal 'SIGTERM' to process[component_container_mt-31] ×2 + 10.04sINFOcomponent_container_mt-30sending signal 'SIGTERM' to process[component_container_mt-30] ×2 + 10.05sINFOobjective_server_node_main-29sending signal 'SIGTERM' to process[objective_server_node_main-29] ×2 + 10.06sINFOmove_end_effector_resampler_node-28sending signal 'SIGTERM' to process[move_end_effector_resampler_node-28] ×2 + 10.07sINFOmove_joint_resampler_node-27sending signal 'SIGTERM' to process[move_joint_resampler_node-27] ×2 + 10.09sINFOwaypoint_manager_node-26sending signal 'SIGTERM' to process[waypoint_manager_node-26] ×2 + 10.09sINFOlaunchprocess[web_bridge_auth_proxy-37] was required: shutting down launched system ×2 + 10.10sINFOparameter_manager_node-25sending signal 'SIGTERM' to process[parameter_manager_node-25] ×2 + 10.11sINFOmove_group-24sending signal 'SIGTERM' to process[move_group-24] ×2 + 10.12sINFOros2_control_node-12sending signal 'SIGTERM' to process[ros2_control_node-12] ×2 + 10.12sINFOcontroller_managerShutdown request received.... + 10.12sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.12sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.12sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.12sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.12sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.12sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.12sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.12sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.12sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.12sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.12sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.12sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.12sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.12sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.12sINFOcontroller_managerShutting down the controller manager. + 10.13sINFOscan_to_scan_filter_chain-11sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-11] ×2 + 10.14sINFOscan_to_scan_filter_chain-10sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-10] ×2 + 10.15sINFOstatic_transform_publisher-9sending signal 'SIGTERM' to process[static_transform_publisher-9] ×2 + 10.16sINFOstatic_transform_publisher-8sending signal 'SIGTERM' to process[static_transform_publisher-8] ×2 + 10.17sINFOlidar_flattener.py-7sending signal 'SIGTERM' to process[lidar_flattener.py-7] ×2 + 10.18sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.19sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.20sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.21sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.22sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.22sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.22sINFOmap_serverDeactivating + 10.22sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.23sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.23sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.23sINFOcontroller_serverDeactivating + 10.23sINFOlocal_costmap.local_costmapDeactivating + 10.23sINFOvideo_server2026/09/04 10:52:46 INF shutting down gracefully ×2 + 10.23sINFOvideo_server2026/09/04 10:52:46 INF [WebRTC] closing ×2 + 10.23sINFOvideo_server2026/09/04 10:52:46 INF [RTSP] closing ×2 + 10.23sINFOvideo_server2026/09/04 10:52:46 INF waiting for running hooks ×2 + 10.23sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.23sINFOmap_serverCleaning up + 10.23sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.23sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.23sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sINFOtf2_web_republisher_node-35process has finished cleanly [pid 7756] ×2 + 10.23sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.23sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.23sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.23sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.24sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.24sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.24sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.24sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.24sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.24sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.24sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.24sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.24sINFOmove_groupDeleting MoveItCpp[0m ×2 + 10.24sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×8 + 10.24sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.24sINFOmove_groupStopping world geometry monitor[0m ×2 + 10.24sINFOmove_groupStopping planning scene monitor[0m ×2 + 10.24sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.24sINFOodom_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 + 10.24sINFOodom_qos_relay.pymain() ×2 + 10.24sINFOodom_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 + 10.24sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.24sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.24sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.24sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.24sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.24sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.24sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.24sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.24sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.24sINFOlaunchprocess[tf2_web_republisher_node-35] was required: shutting down launched system ×2 + 10.25sERRORamclThe bond connection to the lifecycle manager has been broken + 10.25sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.26sINFOcontroller_serverCleaning up + 10.27sINFOlocal_costmap.local_costmapCleaning up + 10.29sINFOcomponent_container_mt-31process has finished cleanly [pid 7752] ×2 + 10.29sINFOui_teleop_bridge-33process has finished cleanly [pid 7754] ×2 + 10.30sINFOmove_end_effector_resampler_node-28process has finished cleanly [pid 7749] ×2 + 10.31sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.31sINFOsmoother_serverDeactivating + 10.31sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.31sINFOmove_joint_resampler_node-27process has finished cleanly [pid 7747] ×2 + 10.32sINFOsmoother_serverCleaning up + 10.32sINFOexecute_objective_bridge-32process has finished cleanly [pid 7753] ×2 + 10.33sINFOwaypoint_manager_node-26process has finished cleanly [pid 7746] ×2 + 10.34sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.34sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 10.34sINFOparameter_manager_node-25process has finished cleanly [pid 7745] ×2 + 10.34sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.34sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.34sINFOplanner_serverDeactivating + 10.34sINFOglobal_costmap.global_costmapDeactivating + 10.36sINFOscan_to_scan_filter_chain-11process has finished cleanly [pid 7682] ×2 + 10.37sINFOscan_to_scan_filter_chain-10process has finished cleanly [pid 7681] ×2 + 10.37sINFOobjective_server_node[2026-09-04 10:52:46.407] [moveit_pro_license] [critical] ×2 + 10.37sINFOobjective_server_node************************************************* ×4 + 10.37sINFOobjective_server_node* MoveIt Pro License ×2 + 10.37sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 10.38sINFOstatic_transform_publisher-9process has finished cleanly [pid 7597] ×2 + 10.39sINFOstatic_transform_publisher-8process has finished cleanly [pid 7596] ×2 + 10.40sERRORlidar_flattener.pyTraceback (most recent call last): ×2 + 10.40sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 252, in <module> ×2 + 10.40sINFOlidar_flattener.pymain() ×2 + 10.40sINFOlidar_flattener.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/lidar_flattener.py", line 243, in main ×2 + 10.40sINFOlidar_flattener.pyrclpy.spin(node) ×2 + 10.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.40sINFOlidar_flattener.pyexecutor.spin_once() ×2 + 10.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.40sINFOlidar_flattener.pyself._spin_once_impl(timeout_sec) ×2 + 10.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.40sINFOlidar_flattener.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.40sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.40sINFOlidar_flattener.pyreturn next(self._cb_iter) ×2 + 10.40sINFOlidar_flattener.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.40sINFOlidar_flattener.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.40sINFOlidar_flattener.pyraise ExternalShutdownException() ×2 + 10.40sINFOlidar_flattener.pyrclpy.executors.ExternalShutdownException ×2 + 10.40sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.40sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.40sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.40sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.40sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.40sINFOvelocity_smootherDeactivating + 10.40sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.43sINFOstatic_transform_publisher-4process has finished cleanly [pid 7592] ×2 + 10.44sINFOstatic_transform_publisher-3process has finished cleanly [pid 7591] ×2 + 10.45sINFOmove_group-24process has finished cleanly [pid 7703] ×2 + 10.46sERRORlidar_flattener.py-7process has died [pid 7595, 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_t213buyo']. ×2 + 10.46sINFOobjective_server_node_main-29process has finished cleanly [pid 7750] ×2 + 10.46sINFOlaunchprocess[objective_server_node_main-29] was required: shutting down launched system ×2 + 10.46sINFOcomponent_container_mt-30process has finished cleanly [pid 7751] ×2 + 10.48sERRORodom_qos_relay.py-5process has died [pid 7593, 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 + 10.49sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 7594] ×2 + 10.51sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.51sINFOwaypoint_followerDeactivating + 10.51sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 10.63sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 10.63sINFObt_navigatorDeactivating + 10.63sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 10.65sERRORcomponent_container_isolated-2process has died [pid 7590, 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_mri9pfpf --params-file /tmp/launch_params_mhdpvzd2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 10.74sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 10.74sINFObehavior_serverDeactivating + 10.74sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 10.77sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 10.77sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 10.78sINFOplanner_serverCleaning up + 10.80sINFOglobal_costmap.global_costmapCleaning up + 10.81sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 10.81sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 10.84sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.84sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.84sINFObt_navigatorCleaning up + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 10.85sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.85sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 10.85sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.85sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 10.85sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 10.86sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.86sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 10.86sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 10.86sINFOvelocity_smootherCleaning up + 10.86sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 10.86sINFOwaypoint_followerCleaning up + 10.88sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 10.89sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.89sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 10.89sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 10.89sINFObehavior_serverCleaning up + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 10.94sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 10.94sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.94sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 10.94sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 10.95sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 10.98sINFObt_navigatorCompleted Cleaning up + 10.98sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.98sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.98sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.00sINFOros2_control_node-12process has finished cleanly [pid 7683] ×2 + 11.30sERRORcomponent_container_isolated-1process has died [pid 7589, 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_mri9pfpf --params-file /tmp/launch_params_8ie90jdj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.94sINFOweb_bridge-34process has finished cleanly [pid 7755] ×2 + 12.94sINFOlaunchprocess[web_bridge-34] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 88 warnings · 154 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796823 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796823 ms (missed cycles : 4).[0m ×2 + 0.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.849ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764643 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764643 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 0.50 s (budget 0.050 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×4 + 1.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.205ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956300 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956300 ms (missed cycles : 2).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1788519002.32915330 seconds ×3 + 2.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-2.06, 11.32) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.46sWARNlocal_costmap.local_costmapSensor origin at (-2.80, 11.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×3 + 2.76sWARNlocal_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. ×5 + 2.76sWARNlocal_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. ×5 + 2.94sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface - Loop" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.95sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface - Loop" ×2 + 2.95sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.95sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.95sINFOobjective_server_nodecaller: ×4 + 2.95sINFOobjective_server_nodetype: 0 ×4 + 2.95sINFOobjective_server_nodename: "" ×4 + 2.95sINFOobjective_server_nodeinstance_id: "" ×4 + 2.95sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1788519002.90599751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386510 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386510 ms (missed cycles : 2).[0m ×2 + 3.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.198ms + 3.38sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378912 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378912 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222276 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222276 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×4 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902913 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902913 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029059 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029059 ms (missed cycles : 2).[0m ×2 + 7.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.073ms + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959719 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959719 ms (missed cycles : 2).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.785ms + 9.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.512ms + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341362 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341362 ms (missed cycles : 3).[0m ×2 + 9.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.155ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407974 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407974 ms (missed cycles : 2).[0m ×2 + 10.97sWARNros2_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 + 10.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.764ms + 11.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.077ms + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946193 ms (missed cycles : 3). + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946193 ms (missed cycles : 3).[0m ×2 + 11.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.785ms + 12.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 13.13sINFOobjective_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 + 13.13sINFOjoint_trajectory_controllerGot request to cancel goal + 13.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.15sERRORobjective_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: 1788519013.07706618 seconds ×3 + 13.26sWARNlocal_costmap.local_costmapSensor origin at (-0.52, 2.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.26sWARNlocal_costmap.local_costmapSensor origin at (-1.42, 2.91) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439949 ms (missed cycles : 2). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439949 ms (missed cycles : 2).[0m ×2 + 13.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.552ms + 13.46sWARNlocal_costmap.local_costmapSensor origin at (-0.60, 3.14) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.46sWARNlocal_costmap.local_costmapSensor origin at (-1.50, 3.15) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 13.69sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface 3 Passes" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 13.69sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface 3 Passes" ×2 + 13.72sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1788519013.64800310 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.126ms + 14.11sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569668 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.569668 ms (missed cycles : 2).[0m ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087904 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087904 ms (missed cycles : 2).[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706108 ms (missed cycles : 2). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706108 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	7.3s	65 warnings · 143 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_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 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.60sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788518912.77793860 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.50, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.40, 11.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.208ms + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.20sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788518913.35792947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 3.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282493 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282493 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783040 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783040 ms (missed cycles : 3).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782291 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782291 ms (missed cycles : 3).[0m ×2 + 8.95sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1788518919.10806775 seconds ×3 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553321 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553321 ms (missed cycles : 3).[0m ×2 + 10.49sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Look at Plane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.50sINFOobjective_server_nodeobjective_name: "Move to Look at Plane" ×2 + 10.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1788518920.67977977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.92sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787157 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787157 ms (missed cycles : 2).[0m ×2 + 11.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295729 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295729 ms (missed cycles : 2).[0m ×2 + 12.81sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342226 ms (missed cycles : 2). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342226 ms (missed cycles : 2).[0m ×2 + 13.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	6.4s	59 warnings · 138 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148529 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148529 ms (missed cycles : 2).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 0.90sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721970 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721970 ms (missed cycles : 2).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706810 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706810 ms (missed cycles : 2).[0m ×2 + 2.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341502 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341502 ms (missed cycles : 4).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1788519078.12815714 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.24) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.33sWARNlocal_costmap.local_costmapSensor origin at (-3.50, 13.08) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 13.29) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.53sWARNlocal_costmap.local_costmapSensor origin at (-3.49, 13.12) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×5 + 3.71sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Point-to-Point Trajectory" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.71sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.71sINFOobjective_server_nodeobjective_name: "Point-to-Point Trajectory" ×2 + 3.71sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.71sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.71sINFOobjective_server_nodecaller: ×4 + 3.71sINFOobjective_server_nodetype: 0 ×4 + 3.71sINFOobjective_server_nodename: "" ×4 + 3.71sINFOobjective_server_nodeinstance_id: "" ×4 + 3.71sINFOobjective_server_node ×4 + 3.74sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1788519078.69702125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.236ms + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896895 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896895 ms (missed cycles : 2).[0m ×2 + 4.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182683 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182683 ms (missed cycles : 4).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154712 ms (missed cycles : 4). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154712 ms (missed cycles : 4).[0m ×2 + 6.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.50 s); lidar_front (0.50 s); lidar_rear (0.50 s); wrist_camera (0.50 s). The render path has stopped producing new frames for them.[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 9.56sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 10.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 10.10sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 10.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 10.54sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	6.0s	38 warnings · 146 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2).[0m ×2 + 2.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788518849.81576347 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788518850.39160109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.1118e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.78sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 5.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 6.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414203 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414203 ms (missed cycles : 4).[0m ×2 + 6.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 7.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658728 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658728 ms (missed cycles : 2).[0m ×2 + 7.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 8.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788518855.86171937 seconds ×3 + 8.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3).[0m ×2 + 8.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 8.67sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 8.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788518856.43780565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.83sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.447ms + 9.11sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750099 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750099 ms (missed cycles : 2).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888207 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888207 ms (missed cycles : 2).[0m ×2 + 10.99sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994086 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994086 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.4s	26 warnings · 117 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.100ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667544 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667544 ms (missed cycles : 2).[0m ×2 + 0.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.314ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.053ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788519157.25854564 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.717ms + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788519157.87182546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2).[0m ×2 + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.377ms + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788519158.62194395 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788519159.19264913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788519160.05277252 seconds ×3 + 5.73sWARNros2_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 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2).[0m ×2 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936792 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936792 ms (missed cycles : 2).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669757 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669757 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	18 warnings · 309 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 0.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.67sINFOobjective_server_node ×10 + 0.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 0.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 0.70sINFOmove_groupClearing octomap...[0m ×2 + 0.70sINFOmove_groupOctomap cleared.[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.25sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 2.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 2.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.19sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.56sINFOjoint_trajectory_controllerReceived new action goal + 4.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.56sINFOjoint_trajectory_controllerAccepted new action goal + 4.56sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2).[0m ×2 + 2.06sINFOjoint_trajectory_controllerGoal reached, success! + 2.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788518849.81576347 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.63sINFOobjective_server_nodecaller: ×2 + 2.63sINFOobjective_server_nodetype: 0 ×2 + 2.63sINFOobjective_server_nodename: "" ×2 + 2.63sINFOobjective_server_nodeinstance_id: "" ×2 + 2.63sINFOobjective_server_node ×2 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788518850.39160109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.1118e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 71 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105072 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283553 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834162 ms (missed cycles : 2).[0m ×2 + 2.06sINFOjoint_trajectory_controllerGoal reached, success! + 2.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1788518849.81576347 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 2.63sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Compute IK, Plan and Move" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.63sINFOobjective_server_nodeobjective_name: "Compute IK, Plan and Move" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.63sINFOobjective_server_nodecaller: ×2 + 2.63sINFOobjective_server_nodetype: 0 ×2 + 2.63sINFOobjective_server_nodename: "" ×2 + 2.63sINFOobjective_server_nodeinstance_id: "" ×2 + 2.63sINFOobjective_server_node ×2 + 2.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1788518850.39160109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115687 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (2.1118e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______________________X] ×2 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOjoint_trajectory_controllerReceived new action goal + 3.78sINFOjoint_trajectory_controllerAccepted new action goal + 3.78sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379814 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	23 warnings · 76 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768997 ms (missed cycles : 2).[0m ×2 + 0.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414203 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414203 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 1.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.382ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658728 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658728 ms (missed cycles : 2).[0m ×2 + 2.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1788518855.86171937 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491019 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Generate Grid Pattern on Airplane" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Generate Grid Pattern on Airplane" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1788518856.43780565 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.447ms + 3.72sINFOobjective_server_nodeFound path in 0 iterations (3.73e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750099 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750099 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888207 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888207 ms (missed cycles : 2).[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994086 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.994086 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	42 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_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 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788518912.77793860 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.50, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.40, 11.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.208ms + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788518913.35792947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 3.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	42 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_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 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788518912.77793860 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.50, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.40, 11.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.208ms + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788518913.35792947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 3.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	42 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_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 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788518912.77793860 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.50, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.40, 11.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.208ms + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788518913.35792947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 3.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	42 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_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 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788518912.77793860 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.50, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.40, 11.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.208ms + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788518913.35792947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 3.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	42 warnings · 72 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042714 ms (missed cycles : 4).[0m ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302011 ms (missed cycles : 3).[0m ×2 + 1.58sWARNros2_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 + 1.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.52 s); lidar_front (0.52 s); lidar_rear (0.52 s); wrist_camera (0.52 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.526ms + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761727 ms (missed cycles : 2).[0m ×2 + 2.60sINFOjoint_trajectory_controllerGoal reached, success! + 2.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1788518912.77793860 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-2.99, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 2.73sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-2.50, 11.03) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.13sWARNlocal_costmap.local_costmapSensor origin at (-3.40, 11.07) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×6 + 3.14sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.208ms + 3.17sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Move to Arm Upright" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.17sINFOobjective_server_nodeobjective_name: "Move to Arm Upright" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.17sINFOobjective_server_nodecaller: ×2 + 3.17sINFOobjective_server_nodetype: 0 ×2 + 3.17sINFOobjective_server_nodename: "" ×2 + 3.17sINFOobjective_server_nodeinstance_id: "" ×2 + 3.17sINFOobjective_server_node ×2 + 3.20sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1788518913.35792947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917057 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 3.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 3.89sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X] ×2 + 3.90sINFOjoint_trajectory_controllerReceived new action goal + 3.90sINFOjoint_trajectory_controllerAccepted new action goal + 3.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488372 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512584 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	37 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3).[0m ×2 + 2.08sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788518951.41992068 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788518951.99902391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.313ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_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 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	37 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3).[0m ×2 + 2.08sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788518951.41992068 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788518951.99902391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.313ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_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 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	37 warnings · 74 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.040192 ms (missed cycles : 5).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms ×2 + 0.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.050 s) from: scene_camera (0.51 s); lidar_front (0.51 s); lidar_rear (0.51 s); wrist_camera (0.51 s). The render path has stopped producing new frames for them.[0m ×2 + 1.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397034 ms (missed cycles : 3).[0m ×2 + 2.08sWARNros2_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 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130493 ms (missed cycles : 2).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1788518951.41992068 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-3.64, 12.84) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.05sWARNlocal_costmap.local_costmapSensor origin at (-4.54, 12.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×2 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.90) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.93) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137877 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Plan Path Along Surface" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan Path Along Surface" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1788518951.99902391 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.313ms + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442726 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480945 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_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 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920984 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	20 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	20 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	20 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	20 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	20 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	20 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	20 warnings · 69 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764869 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_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 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759723 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837574 ms (missed cycles : 2).[0m ×2 + 2.34sINFOjoint_trajectory_controllerGoal reached, success! + 2.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.35sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1788519084.51714873 seconds ×3 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Solution - Generate coverage path" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.89sINFOobjective_server_nodeobjective_name: "Solution - Generate coverage path" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.89sINFOobjective_server_nodecaller: ×2 + 2.89sINFOobjective_server_nodetype: 0 ×2 + 2.89sINFOobjective_server_nodename: "" ×2 + 2.89sINFOobjective_server_nodeinstance_id: "" ×2 + 2.89sINFOobjective_server_node ×2 + 2.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1788519085.09067631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664885 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.666298 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.23sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620163 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	20 warnings · 117 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.100ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667544 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667544 ms (missed cycles : 2).[0m ×2 + 0.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.314ms + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096952 ms (missed cycles : 2).[0m ×2 + 1.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.053ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260254 ms (missed cycles : 3).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1788519157.25854564 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller vacuum_gripper ][0m ×4 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.717ms + 3.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Scene Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.38sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.38sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.38sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.38sINFOobjective_server_nodecaller: ×4 + 3.38sINFOobjective_server_nodetype: 0 ×4 + 3.38sINFOobjective_server_nodename: "" ×4 + 3.38sINFOobjective_server_nodeinstance_id: "" ×4 + 3.38sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788519157.87182546 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.45sINFOmove_groupClearing octomap...[0m ×2 + 3.45sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295983 ms (missed cycles : 2).[0m ×2 + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.377ms + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788519158.62194395 seconds ×3 + 4.74sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Take Wrist Camera Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.75sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788519159.19264913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090426 ms (missed cycles : 3).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788519160.05277252 seconds ×3 + 5.73sWARNros2_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 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257671 ms (missed cycles : 2).[0m ×2 + 5.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 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	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 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	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 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 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.38sINFOobjective_server_nodecaller: ×10 + 2.38sINFOobjective_server_nodetype: 0 ×10 + 2.38sINFOobjective_server_nodename: "" ×10 + 2.38sINFOobjective_server_nodeinstance_id: "" ×10 + 2.38sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 335 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350667 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350667 ms (missed cycles : 3).[0m ×2 + 0.06sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.07sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.17sINFObehavior_serverActivating + 0.17sINFObehavior_serverActivating spin + 0.17sINFObehavior_serverActivating backup + 0.17sINFObehavior_serverActivating drive_on_heading + 0.17sINFObehavior_serverActivating assisted_teleop + 0.17sINFObehavior_serverActivating wait + 0.17sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.27sINFObt_navigatorActivating + 0.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.43sINFOwaypoint_followerActivating + 0.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.53sINFOvelocity_smootherActivating + 0.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.41sINFOjoint_trajectory_controllerReceived new action goal + 7.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.41sINFOjoint_trajectory_controllerAccepted new action goal + 7.41sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 326 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350667 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350667 ms (missed cycles : 3).[0m ×2 + 0.06sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.07sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.17sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.17sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.17sINFObehavior_serverActivating + 0.17sINFObehavior_serverActivating spin + 0.17sINFObehavior_serverActivating backup + 0.17sINFObehavior_serverActivating drive_on_heading + 0.17sINFObehavior_serverActivating assisted_teleop + 0.17sINFObehavior_serverActivating wait + 0.17sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.27sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.27sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.27sINFObt_navigatorActivating + 0.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.43sINFOwaypoint_followerActivating + 0.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.53sINFOvelocity_smootherActivating + 0.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.98sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 3.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.52sINFOobjective_server_nodecaller: ×10 + 3.52sINFOobjective_server_nodetype: 0 ×10 + 3.52sINFOobjective_server_nodename: "" ×10 + 3.52sINFOobjective_server_nodeinstance_id: "" ×10 + 3.52sINFOobjective_server_node ×10 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.10sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.13sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.68sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 6.03sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 6.07sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 320 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.10sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.10sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 2.42sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.55sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.55sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 2.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 2.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 3.09sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 3.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×10 + 3.09sINFOobjective_server_nodecaller: ×10 + 3.09sINFOobjective_server_nodetype: 0 ×10 + 3.09sINFOobjective_server_nodename: "" ×10 + 3.09sINFOobjective_server_nodeinstance_id: "" ×10 + 3.09sINFOobjective_server_node ×10 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.12sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.12sINFOmove_groupClearing octomap...[0m ×2 + 3.12sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.67sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.25sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.99sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.99sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 5.60sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 5.60sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.65sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488970 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 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 + 1.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.84sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.86sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 1.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 1.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.38sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 2.38sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.38sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 2.38sINFOobjective_server_nodeparameter_overrides: [] ×10 + 2.38sINFOobjective_server_nodecaller: ×10 + 2.38sINFOobjective_server_nodetype: 0 ×10 + 2.38sINFOobjective_server_nodename: "" ×10 + 2.38sINFOobjective_server_nodeinstance_id: "" ×10 + 2.38sINFOobjective_server_node ×10 + 2.41sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.41sINFOmove_groupClearing octomap...[0m ×2 + 2.41sINFOmove_groupOctomap cleared.[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 2.96sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.54sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 4.89sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 4.89sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 4.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.27sINFOjoint_trajectory_controllerReceived new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 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	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_cartesian_pose_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_named_waypoint_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 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	21 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820506 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 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	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	18 warnings · 309 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334721 ms (missed cycles : 2).[0m ×2 + 0.63sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.77sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.77sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×12 + 0.78sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] ×6 + 0.78sINFOros2_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 3.727172 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727172 ms (missed cycles : 3).[0m ×2 + 1.30sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Clear Snapshot" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.30sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.30sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.30sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.30sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.30sINFOobjective_server_nodecaller: ×10 + 1.30sINFOobjective_server_nodetype: 0 ×10 + 1.30sINFOobjective_server_nodename: "" ×10 + 1.30sINFOobjective_server_nodeinstance_id: "" ×10 + 1.30sINFOobjective_server_node ×10 + 1.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788518804.34317493 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.33sINFOmove_groupClearing octomap...[0m ×2 + 1.33sINFOmove_groupOctomap cleared.[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788518804.35337639 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset Planning Scene" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 1.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788518804.92270589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788518804.93282366 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174769 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Vector Subtrees Example" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 2.46sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788518805.51156497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788518805.66232014 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111747 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Reset MuJoCo Sim" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788518806.25056028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_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 + 3.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788518806.29099059 seconds ×3 + 3.82sINFOobjective_server_nodeReceived /do_objective goal: objective_name: "Cartesian Draw Geometry From File" objective_xml_string: "" parameter_overrides: [] caller: type: 0 name: "" instance_id: "" + 3.82sINFOobjective_server_nodeobjective_name: "Cartesian Draw Geometry From File" ×2 + 3.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1788518806.86088324 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.86sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.86sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277074 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651545 ms (missed cycles : 2).[0m ×2